diff --git a/apps/isaaclab.python.kit b/apps/isaaclab.python.kit
index 9d1687204a3..03c77150662 100644
--- a/apps/isaaclab.python.kit
+++ b/apps/isaaclab.python.kit
@@ -39,6 +39,7 @@ keywords = ["experience", "app", "usd"]
 # Isaac Sim Extra
 "isaacsim.asset.importer.mjcf" = {}
 "isaacsim.asset.importer.urdf" = {}
+"omni.kit.loop-isaac" = {}
 "omni.physx.bundle" = {}
 "omni.physx.tensors" = {}
 "omni.replicator.core" = {}
@@ -133,6 +134,11 @@ metricsAssembler.changeListenerEnabled = false
 # set the default ros bridge to disable on startup
 isaac.startup.ros_bridge_extension = ""
 
+# rendering performance improvements for the viewer
+app.usdrt.hierarchy.partialGpuUpdate = 1
+app.runLoops.main.rateLimitEnabled = false
+app.runLoops.main.manualModeEnabled = true
+
 # Disable for base application
 [settings."filter:platform"."windows-x86_64"]
 isaac.startup.ros_bridge_extension = ""
@@ -171,7 +177,6 @@ font.size = 16
 gatherRenderResults = true # True to prevent artifacts in multiple viewport configurations, can be set to false for better performance in some cases
 hangDetector.enabled = true
 hangDetector.timeout = 120
-player.useFixedTimeStepping = true
 settings.fabricDefaultStageFrameHistoryCount = 3 # needed for omni.syntheticdata TODO105 still true?
 settings.persistent = true                       # settings are persistent for this app
 
diff --git a/docs/source/refs/release_notes.rst b/docs/source/refs/release_notes.rst
index 94350097756..e13347018f8 100644
--- a/docs/source/refs/release_notes.rst
+++ b/docs/source/refs/release_notes.rst
@@ -126,6 +126,9 @@ Isaac Sim 5.0 Updates
 * :attr:`~isaaclab.sim.spawners.PhysicsMaterialCfg.improve_patch_friction` is now removed. The simulation will always behave as if this attribute is set to true.
 * Native Livestreaming support has been removed. ``LIVESTREAM=1`` can now be used for WebRTC streaming over public networks and
   ``LIVESTREAM=2`` for private and local networks with WebRTC streaming.
+* Isaac Sim 5.0 introduced new actuator models for PhysX, including drive model and friction model improvements.
+  These improvements also introduced a small performance regression. We have observed up to ~20% slowdown in some
+  state-based environments.
 * Some assets in Isaac Sim have been reworked and restructured. Notably, the following asset paths were updated:
 
   * ``Robots/Ant/ant_instanceable.usd`` --> ``Robots/IsaacSim/Ant/ant_instanceable.usd``