CPU bottleneck

Isaac Sim Version

4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify): A cloud VM running Ubuntu 22.04 and Isaac Sim in a docker container.

GPU Information

  • Model: 2xL40
  • Driver Version: 535.183.03

CPU information

  • AMD EPYC 7763 64-Core Processor | Cores: 60 | Logical: 60

Topic Description

Detailed Description

When running the quadruped from the examples, I noticed a CPU bottleneck. This was confirmed using the profiler, and also by setting the lowest rendering resolution and still getting the same fps.

For reference, I used the same container on my local machine with an RTX 3060 Ti and an AMD Ryzen 5800x CPU, and the performance was significantly better (~15 more fps) on the local machine for the same resolution.
I also had the issue on this local machine, but was able to mitigate it by setting the cpu governor to performance (was on powersave by default). But this cannot be done on the VM since it has to be changed on the host.

Is there a workaround to avoid this CPU bottleneck ?

Thanks

Steps to Reproduce

  1. Run the Isaac Sim docker
  2. Run the isaac-sim.headless.native.sh
  3. Open Isaac Examples > Quadruped

Screenshots or Videos

htop

profiler

Additional Information

What I’ve Tried

Here is what I tried without success:

Additional context

Native Livestream is enabled, and I connect to the sim using the streaming client.

Could you please verify whether this issue is still present in Isaac Sim version 4.5.0?