How to speed up simulation in Isaac-Sim

Omniverse Isaac Sim
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2

Hi @hailegashaw12 - the speed of the simulation is primarily determined by the physics step size and the minimum simulation frame rate. However, these settings can be influenced by other factors such as the complexity of the scene, the number of physics objects, and the computational resources available.

Here are some suggestions to speed up your simulation:

  1. Physics Step Size: The physics step size determines the time interval for each physics simulation step. A smaller step size will result in a more accurate simulation but will also require more computational resources and thus slow down the simulation. Conversely, a larger step size will speed up the simulation but may result in less accurate physics. You can adjust the physics step size in your script using the world.set_physics_step_size(step_size) function, where step_size is the desired step size in seconds.
  2. Minimum Simulation Frame Rate: The minimum simulation frame rate determines the minimum number of physics simulation steps per second. If the actual frame rate drops below this value, the simulation will slow down to maintain the accuracy of the physics. You can adjust the minimum simulation frame rate in your script using the world.set_min_simulation_frame_rate(frame_rate) function, where frame_rate is the desired frame rate in frames per second.
  3. GPU Dynamics: Enabling GPU dynamics can potentially speed up the simulation by offloading the physics calculations to the GPU. However, this will only be beneficial if your GPU is powerful enough and not already fully utilized by other tasks. If enabling GPU dynamics slows down the simulation, it may be that your GPU is not able to handle the additional load. You can enable or disable GPU dynamics in your script using the world.set_gpu_dynamics_enabled(enabled) function, where enabled is a boolean value indicating whether GPU dynamics should be enabled.
  4. Optimize the Scene: As mentioned in the previous response, optimizing the scene can also help to speed up the simulation. This includes reducing the complexity of the scene, implementing level of detail (LOD), culling invisible objects, and optimizing the physics settings.
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