The problems relevant to the simulation time step and how to speed up

Omniverse Isaac Sim
1

Hi everyone,
I running the Isaac Sim 4.1.0 in the docker container (ubuntu22.04 system). The computer server with two NVIDIA RTX A6000 GPUs, 128 CPU cores and 250G memory.

gpu_resource
gpu_resource812×559 106 KB

cpu_resource
cpu_resource1429×882 103 KB

But i have a problem relevant to the simulation time step.
when the Isaac Sim just launched, the FPS is about 100, then open an USD file to load a new stage (only with a franka robot and ground), the FPS decrease to about 65, and even drop down to 44 when the PLAY button was clicked. There are still many CPU and GPU resources available in the computer. I wanted to take full advantage of the computational resources and speed up the simulation， How do I set the parameters of the Isaac Sim.

fps
fps1197×894 147 KB

I searched the forums for some related posts, but none of their solutions seemed to work for me,
https://forums.developer.nvidia.com/t/why-so-slow-speeding-up-simulations/226738/5
https://forums.developer.nvidia.com/t/too-slow-simulation-when-i-run-isaac-ros-navigation-example/294007
https://forums.developer.nvidia.com/t/change-fps-setting/267138

Any hints and suggestions would be greatly appreciated！