Isaac Sim Version
4.5.0
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model: 4*A6000 and DeskTop RTX4060
- Driver Version: 570.86.15 and 572.16
Topic Description
Detailed Description
When instantiating 30 cameras, Isaac Sim runs very slowly. The effect of 4-card A6000 and RTX4060 laptops is similar. I don’t think the performance of multi card GPUs is fully utilized, but I saw 4 Kit instances and provided the following test code.
I understand that multi GPU should have better support on multiple cameras, and I have also disabled IOMMU.
Test screenshot of 4-card A6000:
Test screenshot of RTX4060 laptop:
Simple test script, simply run it in Script Editor:
from isaacsim.sensors.camera import Camera
import isaacsim.core.utils.numpy.rotations as rot_utils
import numpy as np
from isaacsim.core.api.world import World
import matplotlib.pyplot as plt
world = World()
world.reset()
for i in range(1, 30):
camera_index = f"{i:02d}"
cam_prim_path = "_" + camera_index
camera = Camera(
prim_path="/World/Xform/Cameras" + cam_prim_path,
resolution=(640, 480),
)
camera.initialize()
print(f"Camera {i} initialized")