How often is world.step called normally? What is the relationship between real time and simulation time?

[Hammad_M]

To add onto @mark.haoxiang’s response

Real-time simulation

When running a standalone example with SimulationApp, Isaac sim will run as fast as possible. Your options are: publish a ROS Clock message and use that as your time so things stay in sync" use time.sleep between each step call to get it to run at a slower rate. This works if your simulation is running faster than realtime one example of the latter: (The SteadyRate class is copied from omni.isaac.cortex tools.py) class SteadyRate: """ Maintains the steady cycle rate provided on initial…

You can do something like this to determine the difference between the realtime clock and simulation time, and wait accordingly.