We run an instance of SimulationApp from python. In this script we spawn a robot, that is connected to a external software stack, that simulates the robot software. The problem we are facing is, that when executing the script, the time stepping does not behave as expected. We can’t get the simulation to run in real time and the external software does not allow for time synchronization.
Therefore we get e.g. joint velocities of 1m/s, when in reality the robot moved only 30cm/s in the simulation. But the physics inspector shows linear velocity of 1m/s. It seems that the simulation is slower than real-time.
We already tried different settings of DELTA_T and no improvements were made.
simulation_context = SimulationContext(physics_dt=1.0 / DELTA_T, rendering_dt=1.0 / DELTA_T, stage_units_in_meters=1.0)
Are there any options to speed up the simulation time to real-time?