Isaac Sim is not utilizing available resources, however real-time factor is very low

[dashaminieieva]

Description

Hi! I use the Isaac Sim simulator together with the Pegasus simulator.
I run a simple simulation, with a single vehicle and a camera, which does not use up all resources:

However, the rtf factor is very low, around 0.4 when rendering every 5th step.

I run a headless simulation. I tried setting the limit_cpu_threads parameter manually, but it doesn't seem to affect anything.

What could be the problem that the simulation is not using the available resources and runs slowly?

Isaac Sim version

5.0.0

Operating System (OS)

Ubuntu 24.04

GPU Name

RTX 3090

GPU Driver and CUDA versions

Driver 580.126.09, Cuda 13.0

Logs

No response

Additional information

No response