Performance Tuning for Kit / Isaac Sim / Isaac Lab

Specific fixes for performance issues identified through profiling. Prerequisite: you should already know where the bottleneck is (from diagnose-perf, profiling, or nsys-analyze skills).

PresentFrame is Abnormally Slow

Two causes:

GPU Backpressure

GPU work exceeds frame budget → CPU waits for swapchain buffer.

Verify: Enable GPU zones in Tracy and check if GPU frametime > CPU frametime.

--/profiler/gpu/tracyInject/enabled=true --/profiler/gpu=true --/rtx/addTileGpuAnnotations=true

Fix: Reduce GPU workload — see RTX Tuning below.