IMU noise direct correlation with physics steps/sec

Omniverse Isaac Sim
#1

I have found that the IMU noise is directly correlated with the number of physics steps per second. At around 400 steps/sec the IMU is literally unusable. Are there any other settings to reduce this IMU noise?

Thanks,
Nilesh

#2

For reproducing the effect -

  • Load Carter_v1 robot

  • Add IMU sensor

  • Attach a differential controller (set to zero velocities)

  • Print the IMU sensor values through Action graph.
    Now change the physics time steps per second to higher number , say 400 and check the difference in gravity acceleration value.

Please help me, if its a issue with the differential controller or some physics setting needs to be done.

Regards,
Nilesh

#4

@nilesh3 could you provide the usd you are using to test?
I’ve filed a bug about this already, and will add your usecase as a test to make sure its fixed

#5

@nilesh3 , when you get a chance please share the usd as requested by Hammad in previous message.

#6

carter_test.usd (11.9 KB)
@rthaker @Hammad_M

#7

Thanks a lot, I hope the bug gets fixed as soon as possible.