Isaac-sim latency

[nikitashiwach2001]

Hi everyone,

I am running into a persistent performance bottleneck while working on a Deep Reinforcement Learning project using Isaac Lab and Isaac Sim. Regardless of the environment complexity, when I launch Isaac Sim via the Isaac Lab scripts, the simulation is hard-capped or throttling at around 15-16 FPS (Steps Per Second).

My hardware utilization doesn't seem to be the bottleneck, as my GPU is not hitting 100% capacity, and I have more than enough VRAM.

System Specifications:
OS: Ubuntu 22.04 / Windows 11

GPU: NVIDIA RTX 4080

NVIDIA Driver Version: 570.86.10

CUDA Version: 12.8

Isaac Sim Version: 5.1.1

Isaac Lab Version: 0.54.0