We can't attain full sensor fps

Omniverse Isaac Sim
1

Isaac Sim Version

6.0.1
6.0.0
5.1.0
5.0.0
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 24.04
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: rtx 5090
  • Driver Version: 580.173.02

Topic Description

Detailed Description

We made a simulation that include water physics and a vehicle with 4 cameras, 2 lidars, 2 imus and a radar.

We dont attain the full sensors fps nor the rendering fps during simulation (limited to 5 fps)

Screenshots or Videos

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4

There is not enough information here yet to determine whether this is a sensor scheduling problem or the expected cost of the scene. Four cameras, two RTX LiDARs, a radar, and the water simulation can create a significant rendering load.

Please provide:

  • The exact Isaac Sim version. The post currently lists several versions.

  • The resolution and configured rate of each RTX sensor.

  • The data path: ROS 2, Replicator writers, or something else.

  • Physics and rendering step rates, GPU utilization, and VRAM usage.

  • Whether 5 FPS is the application frame rate or the measured publish rate of each sensor.

Please also measure the application FPS with the water simulation disabled, with all RTX sensors disabled, and then with cameras, LiDARs, and radar enabled one group at a time. That will identify which part of the workload is limiting the frame rate.

On Isaac Sim 6.0 and later, check omni:sensor:tickRate on every RTX sensor. A value of 0 renders the sensor on every application frame. Use an explicit rate where appropriate. For RTX LiDAR, omni:sensor:tickRate must match omni:sensor:Core:scanRateBaseHz. See Multi-Tick Rendering.

Attach the full Isaac Sim log and a Profiler capture showing the CPU and GPU frame times at 5 FPS.