Real Time Factor not greater than 1 in Isaac Sim

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
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):

GPU Information

  • Model: 4 X L40S
  • Driver Version: 560.35.*

Topic Description

Detailed Description

I have a g6e instance on AWS and am simulating 50 m x 50 m modular warehouse with almost 60-70 industrial assets from SimReady and Nvidia assets repository. Apart from that I have a robot which has a default rotating lidar and 2 x (1280 x 720) rendered cameras with RGB, Depth and Semantic data.

With such a large instance my expectation was that the real-time factor should be atleast > 1 but it started off with 0.6. After tuning the minimum frame rate and physics steps I was able to reach ~ 0.9. Also, the sim frame rate I am getting is about 42 FPS.

I would like to know how to boost the real-time factor because all the GPUs are at 60% and CPU is at barely 10%. So, the computation capacity is not the bottleneck.

Steps to Reproduce

  1. Create 50 x 50 m warehouse using modular warehouse builder tool
  2. Populate the warehouse with roughly 50-70 heavy assets ( pallets, forklifts, conveyor, etc. )
  3. Render 2 x cameras and 1 x lidar with ROS2.
2

Please check if Isaac Sim Speedup Cheat Sheet — Isaac Sim 4.2.0 (OLD) is helpful.

3

@VickNV, thanks for the prompt response. I did try those settings but I could not go about 0.7 at best.

4

So it did try some optimization as suggested and reached a real-time factor of 1.1. Now as soon as I start the ROS2 navigation stack the real-time factor drops. The GPUs are barely at 40% each and CPU is around 30%. So the system is very capable. How to enable Isaac Sim to utilize complete system resources?