[Bug Report] Significant performance drop rebased to IsaacLab v2.2.1 for IsaacSim 5.0.0

[mheyrman]

Issue

After upgrading to IsaacSim 5.0.0 to accommodate a 50-series GPU and rebasing my code to the latest release, performance massively dropped. I made no changes to my env_cfg or rl_cfg aside from adding the obs_groups dictionary element to be in line with the current rsl_rl and IsaacLab releases.

There is a performance drop associated with using the new IsaacSim 5.0.0 and one associated with the IsaacLab rebase.

Simulation (headless) startup time differences:

• 5.0.0 w/ rebase:
  • Time taken for scene creation : 15.875053 seconds
  • Time taken for simulation start: 26.286755 seconds
• 4.5.0 w/ rebase:
  • Time taken for scene creation : 4.985811 seconds
  • Time taken for simulation start : 13.310909 seconds

IsaacLab collection time differences:

• 4.5.0 w/o rebase: ~ 1.2 seconds

• 4.5.0 w/ rebase: ~1.8 seconds
• 5.0.0 w/ rebase: ~2.0 seconds

Learning time has not noticeably changed.

System Info

• Isaac Sim Version: 5.0.0
• OS: Ubuntu 24.04
• Starting time system:
  • GPU: NVIDIA RTX 5080
  • CUDA: 12.9
  • GPU Driver: 575.64.03
• Collection time system:
  • GPU: NVIDIA RTX 4090

[RandomOakForest]

Thank you for posting this. The team will review this report, and provide guidance.

[mheyrman]

Mostly solved by #3636, closing issue.