Performance Issues with ANYmal Standalone Demo (38 FPS) - Seeking Optimization Advice

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: NVIDIA L4
  • Driver Version: 570.124.06

System Information

  • OS: Ubuntu 22.04.5 LTS
  • Kernel: 6.8.0-1025-gcp
  • CPU: Intel(R) Xeon(R) CPU @ 2.20GHz (32 cores)
  • RAM: 125GiB
  • Running Isaac Sim inside Docker

Topic Description

Detailed Description

I’ve been testing the ANYmal standalone demo in Isaac Sim and am consistently getting around 38 FPS on my machine. My goal is to add more robots to the scene, but the current FPS is limiting scalability. I’ve followed all the optimization suggestions in the performance cheat sheet (e.g., reducing viewport resolution, adjusting physics settings), but I haven’t seen significant improvements.

Steps to Reproduce

  1. Open isaac sim shell
  2. ./python.sh standalone_examples/api/isaacsim.robot.policy.examples/anymal_standalone.py

Screenshots or Videos

Additional Context:

  • Are there known bottlenecks with Xeon CPUs or Docker overhead?
  • I have also checked the similar policy demo with spot robot, there i m getting around 49 FPS. I want minimum of 60 FPS.
  • I already using top spec available in GCP which is g2-standard-32, what more can i do on hardware side?
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