Isaac Sim Benchmarking

Parameter references may be outdated.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

Setup

See the install-isaacsim skill for installation (pip, source build, Docker).

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. Set Nucleus auth if using Nucleus-hosted assets — see install-isaacsim skill.
4. 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 standalone_examples/benchmarks/. Run via ./python.sh <script> [args].