How to increase frequency of IMU and Joint State in simulation

Omniverse Isaac Sim
,
1

Now I want to simulate MPC algorithm for humanoid robot. I am using ROS2 with Isaac Sim. But I think the frequency of IMU and Joint State need to be at least 500Hz. So can you tell me how to speed up the publish rate of IMU and Joint State?
I followed this tutorial but when I set ‘publish rate’ to 200, IMU publish rate is 100 (FPS is 80) => robot falls slowly

Isaac Sim Version

4.5.0
Operating System

Ubuntu 22.04

GPU Information

  • Model: RTX 4060
2

@NTA.VN i am just another user, and this is another thread that may or may not be relevant:

i would also be interested to know if 5.0 affects anything on your end. below is also a troubleshooting tip from 5.0 official doc that might be worth a try:

3

thank you so much, let me try.