[Question] Unexpected behavior in policy_inference_in_usd.py: laggy simulation and unstable robot

[liyifan2002]

When running tutorials/03_envs/policy_inference_in_usd.py, the simulation becomes very laggy and the robot always falls over. I noticed that the GPU utilization on my RTX 5090 sometimes reaches 100%, but the simulation FPS is still very low.

Environment:

• Isaac Lab 2.2
• Isaac Sim 5.0
• GPU: RTX 5090
• Driver Version: 575.64.05

[RandomOakForest]

Thank you for posting this. We will review and follow up.