Isaac Lab Benchmarking

Parameter references may be outdated. Always verify with ./isaaclab.sh -p <script> --help. For profiling details (Tracy, Nsight), see the profiling skill. For installation, see the install-isaaclab skill.

Setup

See the install-isaaclab skill for installation (clone, conda env, Isaac Sim linking).

Before Running Any Benchmark

1. Use a WARM run for headline FPS/frametime — see the COLD/WARM/TRACY method in the profiling skill
2. Set CPU governor to performance — see perf-tuning skill
3. Do not patch Isaac Sim shutdown by default. If Tracy shutdown hangs after outputs are complete, use the scoped last-resort guidance in the profiling skill

Benchmark Scripts

All in scripts/benchmarks/. Run via ./isaaclab.sh -p scripts/benchmarks/<script>.py.