Isaac Sim Stuck in world.reset()

Hi, I am using Isaac Sim 2023.1.1 on an L40s GPU. I set up a world with around 10 object meshes and a Franka robot in Python. The program sometimes stuck in the call to world.reset() and never returns. Could you please help find the cause?

The arguments passed to SimulationApp was as follows:

simulation_app = SimulationApp({
    "headless": True,
    "renderer": "RayTracedLighting",
    "multi_gpu": False,
})

The simulation world was created using World(physics_dt=0.1, rendering_dt=0.1, backend="numpy"). The driver version is 535.86.10, and the CUDA version is 12.2, shown by nvidia-smi.

Please let me know if more information is required.