Physics Simulation not independent from rendering framerate

Hi,

Currently, the framerate of the viewport seems to affect how fast the physics behave, which is unexpected. For example having the viewport runs at 120 fps result in the jetbot with WheeledRobot articulation moving twice as fast vs when the fps is 60. The intuition is that the rendering update loop should be separate from physics update loop, e.g Unity. How can we achieve that behavior?