Simulation performance dropped when simulating high DoF robots

Omniverse Isaac Sim
1

Hello Isaac Community,

I have an issue with simulating robots with high DoFs (90~ 100), without any additional sensor the physics simulation performance dropped significantly compared to arm manipulators with (6-7 DOFs).

Thanks,

3

Hi - Someone from our team will look at the question and provide the answer.

4

Interesting. If you are able to get us a reproducible example, then we will look into it. We are always looking for ways to speed up our simulations!