How can I get rendering and scene update faster?

[hojae-io]

Hi, I'm looking for a way to increase the rendering and simulation speed.

1. First, I'm trying to train my policy with sim_dt=0.001 and decimation=10, unlike usual examples where sim_dt=0.005 and decimation=4.
   This cause my training time very slow since the physics stepping loop in manager_based_rl_env.py takes longer time.
   I observed that the main bottleneck is self.scene.write_data_to_sim() and self.scene.update().
   Is there any way that I can make this collection/update time faster?

2. Also, the self.sim.render() takes 0.01 seconds which indicates that the rendering cannot exceed 100Hz by the render function itself. I think this is too slow. Is there any way that I can reduce this rendering time in exchange of rendering quality? Wondering if there's any solution other than just skipping some frames.

Thanks!

Please refer to the bottom related issues:
#1157
#379

[RandomOakForest]

Thanks for posting this. While we get a more specific answer, have you tried the Isaac Sim speed-up guidelines here?