Hey, I have an issue where the physics of my quadruped seems to be slower than real-time.
I am running the quadrupeds.py demo script from Isaac Lab/Orbit. I seems like the revolute joints are highly damped and therefore can’t attain a “high” velocity. Because of this the sim2real transfer of my trained policy fails. When I use one of the quadruped models in a different simulation environment than Isaac Sim I do see normal behaviour.
I experimented a bit with settings like sim.dt, sim.substeps and whether or not to use my GPU for the physx engine but unfortunately this only makes things worse.
Could this have something to do with my GPU or nvidia drivers? Are there some other settings in Isaac Sim that I can change? I suppose it has something to so with my setup because thusfar I have not seen anyone else with this problem.
Thank you for your help!
My setup:
- Isaac Sim 4.0.0
- RTX 3060 12 GB
- Intel i7-9700K @ 3.60GHz
- 48GB DDR4 RAM