Matching sim time to real time

[leonmkim]

As title suggests, I'm hoping to control the elapsed simulation time in my environment such that it matches real time (for the purpose of teleoperated demo collection in simulation). In other words, I want a Real-Time Factor of 1.

That said, I can't seem to find the elapsed simulation time in any of the API. I would have thought the ManiSkillScene timestep would be what I'm looking for, but it doesn't seem to change no matter how many times I call env.step().

Any help would be greatly appreciated!

[StoneT2000]

There's a sim frequency and control frequency parameter.

Sim frequency controls the delta time spent between each internal simulation step

Control frequency controls the delta time spent between each call to env.step

If sim freq is 120 and controls freq is 60, you are simply controlling the robot at 60Hz or controlling it at a granularity of 1/60 seconds.

[leonmkim]

Thanks for the prompt response. So is my understanding correct that sim frequency controls the dt (by $\frac{1}{f_{sim}}$)of elapsed sim time between each physx step?

[StoneT2000]

yes