step_simulation
Advance a frozen Isaac Sim timeline exactly N physics frames, returning object and joint states to enable frame-accurate debugging and verification.
Instructions
Advance the simulation by exactly N physics frames on a FROZEN timeline.
step is self-contained: it initialises physics on first call and operates on a paused/stopped timeline, so N is always exact and observations correlate to a known frame count.
Do NOT call play_simulation before or during the debug loop; step is for a frozen timeline. If the timeline is already playing, step returns an error (a free run cannot be counted frame-by-frame). Use play_simulation ONLY for a final continuous run / ScriptNode-driven demo, never for debugging.
Typical debug loop (no play):
set_joint_positions to command the robot
step_simulation with observe_prims and observe_joints
get_joint_config if drives are not tracking correctly
get_physics_state if objects are not behaving as expected
Adjust and repeat
Args: num_steps: Number of simulation frames to step. observe_prims: List of prim paths to observe (returns position + velocity). observe_joints: List of articulation prim paths to observe (returns joint positions).
Input Schema
| Name | Required | Description | Default |
|---|---|---|---|
| num_steps | No | ||
| command_id | No | ||
| observe_prims | No | ||
| observe_joints | No | ||
| idempotency_key | No |
Output Schema
| Name | Required | Description | Default |
|---|---|---|---|
| result | Yes |