when the rendering rate is 30, it seems same with real time. but when increase it, the simulation will be slower than real time. is that because the time for render and physical computation has a lower bound? This will influence the ability to run the simulation faster than real time.
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When running as a standalone python script using SimulationApp and python.sh, the simulation will run as fast as possible, you can even run physics at a faster rate and render only when needed.
see this script for some examples on different ways to move time forward with isaac sim.
https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_standalone_python.html#time-stepping
In contrast, when running isaac-sim.sh the simulator will try to maintain a realtime physics step size.
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