Performance

[josemendez]

Physics is being updated 6 times per frame in your scene, so it's 6 times slower than it could be. Ideally physics should only be updated once. This is typically known as "death spiralling" and is a very common issue in engines that use a fixed-timestep scheme, such as Unity.

You can try either increasing your fixed timestep, or lowering your max fixed timestep. You can find these settings in Unity's Time manager:
https://docs.unity3d.com/Manual/class-TimeManager.html

If you want to know about fixed time stepping, the physics update cycle and death spiralling, there's many resources online:
https://gafferongames.com/post/fix_your_timestep/
https://johnaustin.io/articles/2019/fix-...y-timestep
https://docs.unity3d.com/Manual/ExecutionOrder.html

When working with physics engines (specially highly demanding simulators, such as Obi) it's extremely important to understand time stepping: what it is, how it works and what tradeoffs it presents.

kind regards,