From 0c1f320101f9b19a7f31383cd00d43a49f3b066b Mon Sep 17 00:00:00 2001
From: openminddev <147775420+openminddev@users.noreply.github.com>
Date: Thu, 10 Sep 2026 23:00:45 +0000
Subject: [PATCH] sync: replace isaac_sim from
 OM1-ros2-sdk@bbca25ba3f2c899fb5929648a5724fcd48d2ce23

---
 isaac_sim/configs/sim.yaml |  2 +-
 isaac_sim/run.py           |  3 ++-
 isaac_sim/utils.py         | 14 ++++++++------
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/isaac_sim/configs/sim.yaml b/isaac_sim/configs/sim.yaml
index b944dec..2603d7f 100644
--- a/isaac_sim/configs/sim.yaml
+++ b/isaac_sim/configs/sim.yaml
@@ -3,7 +3,7 @@
 
 cmd_vel_timeout: 0.5   # seconds; stop the robot if no new /cmd_vel arrives
 physics_dt: 0.005      # 1/200 s
-render_dt: 0.0333       # 1/30 s
+render_dt: 0.03
 
 # Default per-axis velocity caps (m/s, m/s, rad/s); intersected with the policy
 # command ranges at runtime.
diff --git a/isaac_sim/run.py b/isaac_sim/run.py
index 1ea3f9c..937593e 100644
--- a/isaac_sim/run.py
+++ b/isaac_sim/run.py
@@ -430,7 +430,8 @@ def setup_ros(self) -> None:
 
         render_hz = None
         if self._render_dt:
-            render_hz = 1.0 / self._render_dt
+            steps = max(1, int(self._render_dt / self._physics_dt + 1e-9))
+            render_hz = 1.0 / (self._physics_dt * steps)
 
         physics_hz = None
         if self._physics_dt:
diff --git a/isaac_sim/utils.py b/isaac_sim/utils.py
index 8cacaf1..8e53ca3 100644
--- a/isaac_sim/utils.py
+++ b/isaac_sim/utils.py
@@ -251,19 +251,21 @@ def _create_rtx_lidar_pointcloud(
 
     if render_hz:
         scan_attr = lidar_prim.GetAttribute("omni:sensor:Core:scanRateBaseHz")
-        if scan_attr and scan_attr.IsValid():
-            cur_scan = scan_attr.Get()
-            if cur_scan and render_hz > cur_scan:
-                target_scan = float(render_hz)
+        report_attr = lidar_prim.GetAttribute("omni:sensor:Core:reportRateBaseHz")
+        if scan_attr and scan_attr.IsValid() and report_attr and report_attr.IsValid():
+            cur_scan = scan_attr.Get() or 10
+            target_scan = math.ceil(render_hz)
+            if target_scan > cur_scan:
                 scan_attr.Set(target_scan)
+                cols = int((report_attr.Get() or 5120) / target_scan)
                 logger.info(
                     f"[Sensors] RTX lidar scan rate {cur_scan}->{target_scan} Hz "
-                    "(azimuth resolution auto-reduced to fit fire time)"
+                    f"(full sweep per frame, {cols} columns/rev)"
                 )
         else:
             logger.info(
                 "[WARN] RTX lidar scanRateBaseHz attr not found; leaving stock "
-                "10 Hz (cloud may flash at higher render rates)"
+                "10 Hz (cloud will tear during rotation)"
             )
 
     render_product = rep.create.render_product(