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isaac-sim
[Question] IsaacLab takes a very long time to startup, even after clearing cache
I'm currently running into an issue where IsaacLab takes a very long time (~2min) to startup. Now I understand that people have posted about this before and clearing shader cache seems to have fixed it for them, but when I tried it didn't do anything for me.
More specifically, IsaacLab would run very quickly up until "App Ready", at which point it gets stuck for (almost exactly) 2 minutes before showing "Simulation App Startup Complete". This happens with all scripts, including tutorial scripts and all the training scripts generated by a new IsaacLab external project template. If I add --info after the script that I'm running, I can see that during the 2 minutes, it's stuck on waiting for RtPso async group async compilation: N seconds so far, which stops after 120 seconds. I'm not exactly sure why this is, and clearing the shader cache and warming up using warmup.sh does nothing.
[INFO][AppLauncher]: Using device: cuda:0
[INFO][AppLauncher]: Loading experience file: /home/shared/IsaacLab/apps/isaaclab.python.kit
Loading user config located at: '/home/shared/isaacsim/kit/data/Kit/Isaac-Sim/5.0/user.config.json'
[Info] [carb] Logging to file: /home/shared/isaacsim/kit/logs/Kit/Isaac-Sim/5.0/kit_20251115_042942.log
[0.069s] [ext: omni.kit.async_engine-0.0.3] startup
[0.501s] [ext: omni.metrics.core-0.0.3] startup
[0.501s] [ext: omni.client.lib-1.1.0] startup
[0.518s] [ext: omni.blobkey-1.1.2] startup
[0.518s] [ext: omni.stats-1.0.1] startup
[0.519s] [ext: omni.datastore-0.0.0] startup
[0.525s] [ext: omni.client-1.3.0] startup
[0.532s] [ext: omni.ujitso.default-1.0.0] startup
[0.535s] [ext: omni.hsscclient-1.1.2] startup
[0.539s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
[0.542s] [ext: omni.assets.plugins-0.0.0] startup
[0.543s] [ext: omni.gpu_foundation-0.0.0] startup
[0.553s] [ext: carb.windowing.plugins-1.0.0] startup
2025-11-15T04:29:43Z [534ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored): ASRock LED Controller [03000000ce260000a201000010010000]
[0.569s] [ext: omni.kit.renderer.init-0.0.0] startup
|---------------------------------------------------------------------------------------------|
| Driver Version: 580.95.05 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 |
| | | | | | 2b85 | 0c21c623.. |
| | | | | | 1 | |
|=============================================================================================|
| OS: 24.04.3 LTS (Noble Numbat) ubuntu, Version: 24.04.3, Kernel: 6.8.0-86-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101011 (1.21.1.11)
| Processor: AMD Ryzen Threadripper 3960X 24-Core Processor
| Cores: 24 | Logical Cores: 48
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 128643 | Free Memory: 111770
| Total Page/Swap (MB): 8191 | Free Page/Swap: 8190
|---------------------------------------------------------------------------------------------|
2025-11-15T04:29:44Z [1,294ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
[1.583s] [ext: omni.kit.pipapi-0.0.0] startup
[1.584s] [ext: omni.kit.pip_archive-0.0.0] startup
[1.585s] [ext: omni.pip.compute-1.6.2] startup
[1.585s] [ext: omni.materialx.libs-1.0.7] startup
[1.592s] [ext: omni.pip.cloud-1.3.6] startup
[1.595s] [ext: omni.isaac.core_archive-2.6.1] startup
[1.595s] [ext: omni.usd.config-1.0.6] startup
[1.599s] [ext: omni.gpucompute.plugins-0.0.0] startup
[1.599s] [ext: omni.usd.libs-1.0.1] startup
[1.680s] [ext: omni.mdl-56.0.3] startup
[1.770s] [ext: omni.iray.libs-0.0.0] startup
[1.776s] [ext: omni.mdl.neuraylib-0.2.12] startup
[1.779s] [ext: omni.kit.usd.mdl-1.1.4] startup
[1.867s] [ext: omni.kit.telemetry-0.5.2] startup
[1.905s] [ext: omni.isaac.ml_archive-3.0.2] startup
[1.905s] [ext: omni.kit.loop-isaac-1.3.7] startup
[1.907s] [ext: omni.kit.test-2.0.1] startup
[1.961s] [ext: omni.appwindow-1.1.10] startup
[2.274s] [ext: omni.kit.renderer.core-1.1.0] startup
[3.346s] [ext: omni.kit.renderer.capture-0.0.0] startup
[3.349s] [ext: omni.kit.renderer.imgui-2.0.5] startup
[3.437s] [ext: omni.ui-2.26.18] startup
[3.446s] [ext: omni.kit.mainwindow-1.0.3] startup
[3.447s] [ext: carb.audio-0.1.0] startup
[3.454s] [ext: omni.uiaudio-1.0.0] startup
[3.455s] [ext: omni.kit.uiapp-0.0.0] startup
[3.455s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
[3.457s] [ext: omni.usd.schema.audio-0.0.0] startup
[3.461s] [ext: omni.usd_resolver-1.0.0] startup
[3.464s] [ext: omni.usd.core-1.5.3] startup
[3.467s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup
[3.483s] [ext: omni.usd.schema.physx-107.3.18] startup
[3.514s] [ext: omni.usd.schema.semantics-0.0.0] startup
[3.516s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup
[3.516s] [ext: omni.usd.schema.geospatial-0.0.0] startup
[3.518s] [ext: omni.usd.schema.anim-0.0.0] startup
[3.536s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
[3.539s] [ext: usdrt.scenegraph-7.6.1] startup
[3.576s] [ext: omni.timeline-1.0.14] startup
[3.578s] [ext: omni.resourcemonitor-107.0.1] startup
[3.580s] [ext: omni.activity.core-1.0.3] startup
[3.581s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup
[3.583s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
[3.589s] [ext: omni.kit.actions.core-1.0.0] startup
[3.592s] [ext: omni.graph.exec-0.9.6] startup
[3.592s] [ext: omni.kit.commands-1.4.10] startup
[3.595s] [ext: omni.kit.usd_undo-0.1.8] startup
[3.596s] [ext: omni.kit.exec.core-0.13.4] startup
[3.597s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
[3.598s] [ext: omni.hydra.scene_delegate-0.3.4] startup
[3.603s] [ext: omni.usd-1.13.10] startup
2025-11-15T04:29:46Z [3,587ms] [Warning] [omni.usd.audio] failed to subscribe to stage events
[3.632s] [ext: omni.kit.asset_converter-4.1.4] startup
[3.642s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
[3.646s] [ext: isaacsim.robot.schema-3.5.1] startup
[3.653s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
[3.654s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
[3.659s] [ext: omni.kit.property.adapter.core-1.0.2] startup
[3.661s] [ext: omni.kit.menu.core-1.1.2] startup
[3.661s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
[3.662s] [ext: omni.kit.usd.layers-2.2.10] startup
[3.670s] [ext: omni.kit.clipboard-1.0.5] startup
[3.670s] [ext: omni.kit.widget.context_menu-1.2.5] startup
[3.671s] [ext: omni.kit.hotkeys.core-1.3.10] startup
[3.674s] [ext: omni.kit.widget.path_field-2.0.11] startup
[3.675s] [ext: omni.kit.context_menu-1.8.6] startup
[3.676s] [ext: omni.index.libs-380600.5717.0] startup
[3.676s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
[3.677s] [ext: omni.kit.widget.options_menu-1.1.6] startup
[3.680s] [ext: omni.kit.helper.file_utils-0.1.9] startup
[3.681s] [ext: omni.index-1.0.1] startup
[3.682s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
[3.683s] [ext: omni.kit.widget.options_button-1.0.3] startup
[3.683s] [ext: omni.kit.widget.filebrowser-2.12.2] startup
[3.687s] [ext: omni.volume-0.5.2] startup
[3.690s] [ext: omni.ujitso.client-0.0.0] startup
[3.690s] [ext: omni.kit.notification_manager-1.0.10] startup
[3.691s] [ext: omni.hydra.rtx-1.0.0] startup
2025-11-15T04:29:46Z [3,674ms] [Warning] [omni.log] Source: omni.hydra was already registered.
[3.727s] [ext: omni.ui.scene-1.11.4] startup
[3.732s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
[3.732s] [ext: omni.kit.window.filepicker-2.13.3] startup
[3.745s] [ext: omni.kit.widget.searchfield-1.1.8] startup
[3.746s] [ext: omni.kit.widget.settings-1.2.3] startup
[3.748s] [ext: omni.kit.menu.utils-2.0.3] startup
[3.752s] [ext: omni.kit.window.file_exporter-1.0.33] startup
[3.754s] [ext: omni.kit.widget.filter-1.1.4] startup
[3.755s] [ext: omni.hydra.engine.stats-1.0.3] startup
[3.757s] [ext: omni.kit.window.preferences-1.8.0] startup
[3.760s] [ext: omni.kit.widget.stage-3.1.4] startup
[3.769s] [ext: omni.kit.window.file_importer-1.1.18] startup
[3.770s] [ext: omni.kit.raycast.query-1.1.0] startup
[3.774s] [ext: omni.kit.viewport.registry-104.0.6] startup
[3.775s] [ext: omni.kit.viewport.legacy_gizmos-1.0.18] startup
[3.777s] [ext: omni.kit.material.library-2.0.7] startup
[3.782s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
[3.783s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup
[3.787s] [ext: omni.kit.hydra_texture-1.4.5] startup
[3.790s] [ext: omni.kit.window.drop_support-1.0.5] startup
[3.790s] [ext: omni.kit.widget.viewport-107.1.3] startup
[3.794s] [ext: omni.kit.primitive.mesh-1.0.17] startup
[3.797s] [ext: omni.kit.viewport.window-107.0.12] startup
[3.811s] [ext: omni.kit.manipulator.transform-107.0.0] startup
[3.815s] [ext: omni.kit.stage_template.core-1.1.22] startup
[3.816s] [ext: omni.kit.widget.toolbar-2.0.1] startup
[3.821s] [ext: omni.kit.viewport.utility-1.1.2] startup
[3.822s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
[3.822s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
[3.823s] [ext: omni.kit.window.file-2.0.5] startup
[3.825s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
[3.829s] [ext: omni.kit.manipulator.selector-1.1.3] startup
[3.830s] [ext: omni.kit.window.property-1.12.1] startup
[3.832s] [ext: omni.kit.window.content_browser-3.1.1] startup
[3.843s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
[3.845s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
[3.846s] [ext: omni.kit.property.usd-4.5.11] startup
[3.855s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[3.856s] [ext: omni.fabric.commands-1.1.6] startup
[3.858s] [ext: omni.kvdb-107.3.18] startup
[3.860s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
[3.866s] [ext: omni.convexdecomposition-107.3.18] startup
[3.868s] [ext: omni.physx.foundation-107.3.18] startup
[3.870s] [ext: omni.localcache-107.3.18] startup
[3.871s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
[3.872s] [ext: omni.kit.viewport.menubar.core-107.1.5] startup
[3.885s] [ext: omni.kit.viewport.actions-107.0.2] startup
[3.890s] [ext: omni.usdphysics-107.3.18] startup
[3.892s] [ext: omni.kit.widget.prompt-1.0.7] startup
[3.892s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
[3.893s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
[3.894s] [ext: omni.physx.cooking-107.3.18] startup
[3.897s] [ext: omni.inspect-1.0.2] startup
[3.898s] [ext: omni.kit.widget.layers-1.8.6] startup
[3.909s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[3.909s] [ext: omni.debugdraw-0.1.4] startup
[3.913s] [ext: omni.physx-107.3.18] startup
[3.922s] [ext: omni.physics-107.3.18] startup
[3.925s] [ext: omni.graph.core-2.184.3] startup
[3.927s] [ext: omni.usdphysics.ui-107.3.18] startup
[3.953s] [ext: omni.physx.commands-107.3.18] startup
[3.958s] [ext: omni.physics.stageupdate-107.3.18] startup
[3.960s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup
[3.960s] [ext: omni.physx.ui-107.3.18] startup
[3.992s] [ext: isaacsim.core.version-2.0.6] startup
[3.992s] [ext: omni.physics.physx-107.3.18] startup
[3.994s] [ext: isaacsim.storage.native-1.2.8] startup
[3.995s] [ext: omni.usd.metrics.assembler-107.3.1] startup
[4.005s] [ext: omni.kit.numpy.common-0.1.2] startup
[4.007s] [ext: omni.physics.tensors-107.3.18] startup
[4.012s] [ext: omni.warp.core-1.7.1] startup
[4.198s] [ext: omni.usd.metrics.assembler.physics-107.3.18] startup
[4.200s] [ext: omni.isaac.dynamic_control-2.0.7] startup
2025-11-15T04:29:46Z [4,170ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
[4.205s] [ext: omni.physx.tensors-107.3.18] startup
[4.210s] [ext: isaacsim.core.utils-3.4.5] startup
[4.212s] [ext: isaacsim.core.simulation_manager-1.3.2] startup
[7.556s] [ext: omni.kit.usd.collect-2.4.5] startup
[7.558s] [ext: isaacsim.core.prims-0.5.1] startup
[7.573s] [ext: omni.kit.usdz_export-1.0.9] startup
[7.575s] [ext: omni.graph.tools-1.79.2] startup
[7.595s] [ext: omni.graph.action_core-1.1.7] startup
[7.597s] [ext: omni.graph-1.141.2] startup
[7.637s] [ext: omni.kit.stage_templates-2.0.0] startup
[7.639s] [ext: omni.graph.action_nodes-1.50.4] startup
[7.643s] [ext: isaacsim.core.api-4.6.10] startup
[7.665s] [ext: omni.kit.tool.asset_importer-4.3.2] startup
[7.671s] [ext: omni.graph.action-1.130.0] startup
[7.672s] [ext: omni.kit.selection-0.1.6] startup
[7.675s] [ext: omni.ui_query-1.1.8] startup
[7.678s] [ext: omni.kit.stagerecorder.core-107.0.3] startup
[7.682s] [ext: omni.kit.widget.text_editor-1.1.1] startup
[7.685s] [ext: omni.kit.ui_test-1.3.6] startup
[7.687s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup
[7.691s] [ext: omni.kit.window.extensions-1.4.26] startup
[7.704s] [ext: omni.graph.visualization.nodes-2.1.3] startup
[7.739s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
[7.740s] [ext: isaacsim.gui.components-1.1.9] startup
[7.745s] [ext: isaacsim.gui.menu-2.3.17] startup
[7.868s] [ext: isaacsim.app.about-2.0.11] startup
[7.872s] [ext: isaacsim.asset.importer.mjcf-2.5.8] startup
[7.881s] [ext: semantics.schema.editor-2.0.1] startup
2025-11-15T04:29:50Z [7,852ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
[7.889s] [ext: semantics.schema.property-2.0.1] startup
[7.891s] [ext: isaacsim.core.cloner-1.4.9] startup
[7.895s] [ext: omni.graph.image.core-0.6.1] startup
[7.897s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
[7.898s] [ext: omni.graph.image.nodes-1.3.1] startup
[7.899s] [ext: omni.kit.window.stage-2.6.1] startup
[7.903s] [ext: omni.kit.widget.graph-2.0.0] startup
[7.909s] [ext: omni.kit.menu.create-2.0.1] startup
[7.911s] [ext: omni.syntheticdata-0.6.13] startup
[7.936s] [ext: isaacsim.util.debug_draw-3.1.0] startup
[7.940s] [ext: omni.kit.graph.delegate.default-1.2.2] startup
[7.944s] [ext: omni.kit.scripting-107.3.1] startup
[7.953s] [ext: isaacsim.sensors.physx-2.2.27] startup
[7.961s] [ext: omni.kit.graph.editor.core-1.5.3] startup
[7.976s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
[7.981s] [ext: omni.kit.widget.material_preview-1.0.16] startup
[7.989s] [ext: isaacsim.replicator.behavior-1.1.14] startup
[7.992s] [ext: isaacsim.simulation_app-2.9.2] startup
[7.995s] [ext: omni.anim.curve.core-1.3.1] startup
[8.009s] [ext: omni.graph.scriptnode-1.50.0] startup
[8.012s] [ext: omni.kit.window.material_graph-1.8.23] startup
[8.045s] [ext: omni.sensors.nv.common-2.7.0-coreapi] startup
[8.058s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[8.062s] [ext: omni.graph.nodes-1.170.10] startup
[8.072s] [ext: omni.graph.ui_nodes-1.50.5] startup
[8.076s] [ext: omni.sensors.net-0.4.0-coreapi] startup
[8.080s] [ext: omni.sensors.nv.materials-1.6.0-coreapi] startup
[8.087s] [ext: omni.videoencoding-0.1.2] startup
[8.088s] [ext: omni.sensors.nv.wpm-2.5.0-coreapi] startup
[8.092s] [ext: omni.warp-1.7.1] startup
[8.098s] [ext: omni.kit.manipulator.camera-106.0.4] startup
[8.109s] [ext: omni.sensors.nv.ids-1.5.0-coreapi] startup
[8.113s] [ext: omni.sensors.nv.lidar-2.7.0-coreapi] startup
[8.122s] [ext: omni.sensors.nv.radar-2.8.0-coreapi] startup
[8.127s] [ext: omni.replicator.core-1.12.16] startup
Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
2025-11-15T04:29:51Z [8,342ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
[8.380s] [ext: omni.kit.property.audio-1.0.16] startup
[8.385s] [ext: omni.kit.property.camera-1.0.10] startup
[8.388s] [ext: omni.kit.property.light-1.0.12] startup
[8.417s] [ext: omni.kit.property.geometry-2.0.4] startup
[8.423s] [ext: isaacsim.core.nodes-3.2.16] startup
[8.432s] [ext: isaacsim.gui.property-1.1.3] startup
[8.438s] [ext: omni.kit.property.render-1.2.1] startup
[8.440s] [ext: omni.hydra.scene_api-0.1.2] startup
[8.446s] [ext: isaacsim.test.docstring-1.1.0] startup
[8.450s] [ext: isaacsim.core.experimental.utils-0.2.0] startup
[8.457s] [ext: omni.kit.widget.zoombar-1.0.6] startup
[8.460s] [ext: omni.kit.property.transform-1.5.12] startup
[8.476s] [ext: omni.kit.property.material-1.11.9] startup
[8.520s] [ext: isaacsim.core.experimental.prims-0.6.2] startup
[8.584s] [ext: omni.kit.browser.core-2.3.13] startup
[8.619s] [ext: omni.kit.property.bundle-1.4.1] startup
[8.625s] [ext: isaacsim.sensors.rtx-15.5.0] startup
[8.642s] [ext: omni.kit.viewport.menubar.camera-107.0.3] startup
[8.672s] [ext: isaacsim.robot.surface_gripper-3.2.6] startup
[8.682s] [ext: omni.kit.browser.folder.core-1.10.9] startup
[8.733s] [ext: isaacsim.sensors.physics-0.3.27] startup
[8.757s] [ext: omni.kit.tool.collect-2.2.18] startup
[8.792s] [ext: omni.kit.menu.stage-1.2.7] startup
[8.808s] [ext: isaacsim.robot.manipulators-3.3.5] startup
[8.818s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
[8.832s] [ext: omni.kit.viewport.menubar.render-107.0.9] startup
[8.857s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
[8.862s] [ext: isaacsim.examples.browser-0.1.12] startup
[8.949s] [ext: isaacsim.asset.importer.urdf-2.4.19] startup
[9.202s] [ext: omni.kit.window.console-1.1.4] startup
[9.227s] [ext: omni.physx.demos-107.3.18] startup
[9.275s] [ext: omni.kit.property.physx-107.3.18] startup
[9.318s] [ext: omni.rtx.window.settings-0.6.19] startup
[9.329s] [ext: omni.ocio-0.1.1] startup
[9.332s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
[9.356s] [ext: omni.asset_validator.core-0.25.4] startup
[9.415s] [ext: omni.physx.vehicle-107.3.18] startup
[9.442s] [ext: omni.rtx.settings.core-0.6.5] startup
[9.449s] [ext: omni.kit.window.script_editor-2.0.1] startup
[9.454s] [ext: isaacsim.robot.wheeled_robots-4.0.23] startup
[9.464s] [ext: omni.kit.window.toolbar-2.0.0] startup
[9.473s] [ext: omni.physx.asset_validator-107.3.18] startup
[9.481s] [ext: omni.physx.camera-107.3.18] startup
[9.499s] [ext: omni.physx.cct-107.3.18] startup
[9.516s] [ext: omni.physx.graph-107.3.18] startup
[9.547s] [ext: omni.physx.supportui-107.3.18] startup
[9.586s] [ext: omni.physx.telemetry-107.3.18] startup
[9.591s] [ext: omni.kit.window.status_bar-0.1.8] startup
[9.612s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
[9.641s] [ext: isaacsim.asset.browser-1.3.19] startup
[9.647s] [ext: isaacsim.core.throttling-2.1.10] startup
[9.652s] [ext: omni.kit.ui.actions-1.0.5] startup
[9.656s] [ext: omni.physx.bundle-107.3.18] startup
[9.658s] [ext: isaacsim.sensors.camera-1.3.1] startup
[9.670s] [ext: isaaclab-0.47.1] startup
[10.018s] [ext: isaaclab_assets-0.2.2] startup
[10.356s] [ext: isaaclab_tasks-0.11.1] startup
[12.226s] [ext: omni.kit.menu.common-2.0.0] startup
[12.228s] [ext: isaaclab_rl-0.4.2] startup
[12.230s] [ext: isaaclab_mimic-1.0.14] startup
[12.231s] [ext: isaaclab.python-2.2.1] startup
[12.234s] Simulation App Starting
2025-11-15T04:29:55Z [12,374ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
2025-11-15T04:29:55Z [12,375ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
2025-11-15T04:29:55Z [12,404ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
2025-11-15T04:29:55Z [12,574ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
[12.656s] app ready
2025-11-15T04:30:01Z [18,491ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-11-15T04:30:01Z [18,491ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-11-15T04:30:01Z [18,492ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
2025-11-15T04:30:01Z [18,629ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-11-15T04:30:01Z [18,630ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
[127.989s] Simulation App Startup Complete
[128.015s] [ext: omni.physx.fabric-107.3.18] startup
2025-11-15T04:31:52Z [129,455ms] [Warning] [omni.physx.tensors.plugin] GPU contact filter for collider '/World/ground' is not supported
2025-11-15T04:31:52Z [129,455ms] [Warning] [omni.physx.tensors.plugin] GPU contact filter for collider '/World/ground' is not supported
2025-11-15T04:31:52Z [129,468ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
2025-11-15T04:31:52Z [129,469ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
2025-11-15T04:31:52Z [129,518ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
2025-11-15T04:31:52Z [129,518ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_1/Robot/b1_description/RR_calf/visuals/mesh_1
2025-11-15T04:31:52Z [129,518ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_1/Robot/b1_description/RR_calf/visuals/mesh_1
[INFO]: Setup complete...
[INFO]: Resetting robot state...
2025-11-15T04:32:00Z [138,005ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
[INFO]: Resetting robot state...
with --info:
...
(file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurfaceLib.mdl)
2025-11-15T04:42:54Z [17,096ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED .::UsdPreviewSurfaceLib <---> ::UsdPreviewSurfaceLib (file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurfaceLib.mdl)
2025-11-15T04:42:54Z [17,096ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED .::UsdPreviewSurfaceLib <---> ::UsdPreviewSurfaceLib (file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurfaceLib.mdl)
2025-11-15T04:42:54Z [17,096ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED .::UsdPreviewSurfaceLib <---> ::UsdPreviewSurfaceLib (file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurfaceLib.mdl)
2025-11-15T04:42:54Z [17,102ms] [Info] [rtx.neuraylib.plugin] FileWatcher: Started watching: 'mdl::UsdPreviewSurfaceLib'
2025-11-15T04:42:54Z [17,102ms] [Info] [rtx.neuraylib.plugin] FileWatcher: Started watching: 'mdl::UsdPreviewSurface'
2025-11-15T04:42:54Z [17,102ms] [Info] [rtx.neuraylib.plugin] FileWatcher: Started watching: 'mdl::UsdPreviewSurfaceMonolithic'
2025-11-15T04:42:54Z [17,103ms] [Info] [rtx.neuraylib.plugin] Stored MdlEntitySnapshot to DB: usd::rtx_scope0::*UsdPreviewSurfaceMonolithic::::UsdPreviewSurfaceMonolithic::UsdPreviewSurfaceMonolithic((6))
2025-11-15T04:42:54Z [17,105ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] DONE ::UsdPreviewSurfaceMonolithicLite <---> ::UsdPreviewSurfaceMonolithicLite (file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurfaceMonolithicLite.mdl)
2025-11-15T04:42:54Z [17,107ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED .::UsdPreviewSurface <---> ::UsdPreviewSurface (file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurface.mdl)
2025-11-15T04:42:54Z [17,107ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED .::UsdPreviewSurfaceLib <---> ::UsdPreviewSurfaceLib (file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurfaceLib.mdl)
2025-11-15T04:42:54Z [17,108ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED .::UsdPreviewSurfaceLib <---> ::UsdPreviewSurfaceLib (file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurfaceLib.mdl)
2025-11-15T04:42:54Z [17,108ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED .::UsdPreviewSurfaceLib <---> ::UsdPreviewSurfaceLib (file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurfaceLib.mdl)
2025-11-15T04:42:54Z [17,108ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED .::UsdPreviewSurfaceLib <---> ::UsdPreviewSurfaceLib (file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurfaceLib.mdl)
2025-11-15T04:42:54Z [17,108ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED .::UsdPreviewSurfaceLib <---> ::UsdPreviewSurfaceLib (file:/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurfaceLib.mdl)
2025-11-15T04:42:54Z [17,111ms] [Info] [rtx.neuraylib.plugin] FileWatcher: Started watching: 'mdl::UsdPreviewSurfaceMonolithicLite'
2025-11-15T04:42:54Z [17,112ms] [Info] [rtx.neuraylib.plugin] Stored MdlEntitySnapshot to DB: usd::rtx_scope0::*UsdPreviewSurfaceMonolithicLite::::UsdPreviewSurfaceMonolithicLite::UsdPreviewSurfaceMonolithicLite((7))
2025-11-15T04:42:54Z [17,113ms] [Info] [omni.usd] UsdManager::initializeHydraEngineInstance - engine initialized ' uid: 1024 type: rtx flags: 3 tickRateInHz: 0 deviceMask: 1 creationIndex: 0'
2025-11-15T04:42:54Z [17,113ms] [Info] [omni.usd] UsdContext::addHydraEngineImp - engine uid: 1024
2025-11-15T04:42:54Z [17,113ms] [Info] [omni.usd] [UsdContext] Set default Hydra Engine uid: 1024 type: rtx
2025-11-15T04:42:55Z [17,692ms] [Info] [omni.usd] UsdContext::createViewportImpl - engine type: 'rtx', tick rate: 120 , flags: 0 , device: 0
2025-11-15T04:42:55Z [17,693ms] [Info] [omni.usd] UsdContext::addHydraEngineWithExistingInstanceDataImp - engine to add ' uid: 1024 type: rtx flags: 3 tickRateInHz: 0 deviceMask: 1 creationIndex: 0'
2025-11-15T04:42:55Z [17,693ms] [Info] [omni.usd] UsdContext::addHydraEngineWithExistingInstanceDataImp - succesfully created engine uid: 1024
2025-11-15T04:42:55Z [17,696ms] [Info] [rtx.scenedb.plugin] [MBVH]: Creating scene acceleration structures for context 0, device mask: 0x1
2025-11-15T04:42:56Z [18,621ms] [Info] [omni.usdMdl] Initializing Neuray
2025-11-15T04:42:56Z [18,622ms] [Info] [omni.usdMdl] scope: rtx_scope0
2025-11-15T04:42:56Z [18,622ms] [Info] [omni.usdMdl] MdlModuleRegistry::DiscoverPreviewSurfaceModule()
2025-11-15T04:42:56Z [18,622ms] [Info] [omni.usdMdl] MdlModuleRegistry::_GetOrCreateModule(/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurface.mdl, 1, 1)
2025-11-15T04:42:56Z [18,622ms] [Info] [omni.usdMdl] MdlModuleRegistry::_GetOrCreateModule(/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurface.mdl, 1, 1) Done created: 1
2025-11-15T04:42:56Z [18,622ms] [Info] [omni.usdMdl] ModuleRegistryItem::GetOrCreateModule(1, 1) assetPath: /home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurface.mdl
2025-11-15T04:42:56Z [18,622ms] [Info] [omni.usdMdl] MdlModule::MdlModule(/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurface.mdl, 1, 1)
2025-11-15T04:42:56Z [18,622ms] [Info] [omni.usdMdl] Neuray::LoadModule(/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurface.mdl, UsdPreviewSurface.mdl, 1)
2025-11-15T04:42:56Z [18,622ms] [Info] [omni.usdMdl] MdlNotice::ModuleLoaded /home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurface.mdl
2025-11-15T04:42:56Z [18,622ms] [Info] [omni.usdMdl] Neuray::LoadModule(/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurface.mdl, UsdPreviewSurface.mdl, 1) Done success: 1
2025-11-15T04:42:56Z [18,622ms] [Info] [omni.usdMdl] MdlModule::MdlModule(/home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurface.mdl, 1, 1) Done function count: 21 valid: 1
2025-11-15T04:42:56Z [18,623ms] [Info] [omni.usdMdl] ModuleRegistryItem::GetOrCreateModule(1, 1) assetPath: /home/shared/isaacsim/kit/mdl/rtx/UsdPreviewSurface.mdl Done created: 1
2025-11-15T04:42:56Z [18,628ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-11-15T04:42:56Z [18,628ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-11-15T04:42:56Z [18,629ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
2025-11-15T04:42:56Z [18,632ms] [Info] [omni.usd] UsdContext::addHydraEngineWithExistingInstanceDataImp - set default RTX engine: 1024
2025-11-15T04:42:56Z [18,641ms] [Info] [omni.usd] UsdContext::createViewportImpl - engine type: 'rtx', tick rate: 120 , flags: 0 , device: 0
2025-11-15T04:42:56Z [18,643ms] [Info] [omni.usd] [MBVH]: enableHydraengineMasking: ON, for indexForEngineInstance: 0
2025-11-15T04:42:56Z [18,643ms] [Info] [omni.usd] [MBVH]: Forcing hydraengine 0 to have motion raytracing ON
2025-11-15T04:42:56Z [18,643ms] [Info] [omni.usd] UsdContext::createRunloopThreadForHydraEngineImpl - engine: ' uid: 1024 type: rtx flags: 3 tickRateInHz: 0 deviceMask: 1 creationIndex: 0'
2025-11-15T04:42:56Z [18,643ms] [Info] [omni.usd] [MBVH]: enableHydraengineMasking: ON, for indexForEngineInstance: 0
2025-11-15T04:42:56Z [18,643ms] [Info] [omni.usd] [MBVH]: Forcing hydraengine 0 to have motion raytracing ON
2025-11-15T04:42:56Z [18,643ms] [Info] [carb] Initializing plugin: omni.usd.hydra.renderproduct.plugin (interfaces: [omni::usd::hydra::IRenderProductManager v0.1]) (impl: omni.usd.hydra.renderproduct.plugin)
2025-11-15T04:42:56Z [18,643ms] [Info] [omni.usd] UsdContext::createViewportImpl - handle: 0, engine: 1024
2025-11-15T04:42:56Z [18,646ms] [Info] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/multiThreading/enabled'
2025-11-15T04:42:56Z [18,647ms] [Info] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/rtxsensor/fallbackTimestamps/enabled'
2025-11-15T04:42:56Z [18,741ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-11-15T04:42:56Z [18,741ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-11-15T04:42:56Z [18,750ms] [Info] [carb] Plugin omni.usd-abi.plugin is already a dependency of omni.fabric.plugin; not changing unload order
2025-11-15T04:42:56Z [18,750ms] [Info] [carb] Plugin omni.usd-abi.plugin is already a dependency of omni.fabric.plugin; not changing unload order
2025-11-15T04:42:56Z [18,750ms] [Info] [carb] Plugin omni.usd-abi.plugin is already a dependency of omni.fabric.plugin; not changing unload order
2025-11-15T04:42:56Z [18,750ms] [Info] [carb] Plugin omni.usd-abi.plugin is already a dependency of omni.fabric.plugin; not changing unload order
2025-11-15T04:43:01Z [23,765ms] [Info] [gpu.foundation.plugin] *** Waiting for RtPso async group async compilation: 5 seconds so far
2025-11-15T04:43:06Z [28,766ms] [Info] [gpu.foundation.plugin] *** Waiting for RtPso async group async compilation: 10 seconds so far
2025-11-15T04:43:11Z [33,766ms] [Info] [gpu.foundation.plugin] *** Waiting for RtPso async group async compilation: 15 seconds so far
2025-11-15T04:43:16Z [38,766ms] [Info] [gpu.foundation.plugin] *** Waiting for RtPso async group async compilation: 20 seconds so far
2025-11-15T04:43:21Z [43,766ms] [Info] [gpu.foundation.plugin] *** Waiting for RtPso async group async compilation: 25 seconds so far
2025-11-15T04:43:26Z [48,767ms] [Info] [gpu.foundation.plugin] *** Waiting for RtPso async group async compilation: 30 seconds so far
2025-11-15T04:43:31Z [53,767ms] [Info] [gpu.foundation.plugin] *** Waiting for RtPso async group async compilation: 35 seconds so far
2025-11-15T04:43:36Z [58,767ms] [Info] [gpu.foundation.plugin] *** Waiting for RtPso async group async compilation: 40 seconds so far
...
Interestingly, this issue doesn't appear when I just run ./isaac-sim.sh, ./isaaclab.sh -s and ./isaaclab.sh -s --vulkan. I also tried adding --kit_args="--vulkan" hoping that would fix the issue, since I saw that did the trick for a couple people, but it didn't do anything for me.
Does anyone know what's going on and how this can be fixed?
Build Info
Describe the versions that you are currently using:
- Isaac Lab Version: 2.2.1
- Isaac Sim Version: 5.0.0-rc.45+release.23960.184afb15.gl
