1X NEO not opening in isaac sim/bad Quadruped Sample performance

It can be opened at blender/USD Composer,
however, hangs and freezes when tried to open on issac sim 4.0,
even after download to offline

Also, the performance of controller in Quadruped Sample is BAD, compared to 2022.1.1.
This problem is from 2023 version, but not seems to be fixed.