Isaac Sim app stucks after self._app.update()

Omniverse Isaac Sim
1

Hi, I am trying train my robot with the isaac sim reinforcement learning framework(
OmniIsaacGymEnvs). I imported the urdf file to usd file and configure my robot training task. Now the training can start when I use headless mode. However, if I set headless to False, the isaac sim app will stuck after call self._app.update() in render() function in simulation_context.py with the following warning :

Blockquote
2024-02-03 09:57:56 [29,404ms] [Warning] [carb] Client omni.stageupdate.plugin has acquired [omni::hydra::IOmniHydra v2.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
Blockquote

Any suggestions?

2

Hi @Raincold23 - Are you following instructions mentioned in this page?
https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_gym_tutorials/tutorial_gym_isaac_gym.html