How to set a custom control step in RL environment?

I am following the “Custom RL example with Stable Baselines” to create a custom environment to train a robot. However I could not find any parameter that modifies the physics step nor the control step.

I would like to update the physics as fast as possible but with the robot deciding how to move the actuators each 200 ms.

Is it possible to somehow set these time steps?

So I have been reading this example and found a solution.

In the step() function you can “skip” steps by calling the World.step() function which will step the physics simulation without returning observations until the specified step limit is reached. This will create a delay between each observation return by running the physics simulation in between for a specified amount of physics steps.