Omni.kit.raycast.query leads to crash

Isaac Sim Version

4.5.0

Operating System

Ubuntu 20.04

GPU Information

  • Model: 3090
  • Driver: 535

Hi.

I try to use omni.kit.raycast.query to submit a sequence of raycast.

But run the following code in Isaac sim script editor will lead to crash.
The code simply adds a cube and submit a ray sequence.

import omni.kit.raycast.query
from pxr import Gf, UsdGeom

# get raycast interface
raycast = omni.kit.raycast.query.acquire_raycast_query_interface()

# set up a cube for test
stage = omni.usd.get_context().get_stage()
CUBE_PATH = "/Cube"
cube = UsdGeom.Cube.Define(stage, CUBE_PATH)
UsdGeom.XformCommonAPI(cube.GetPrim()).SetTranslate(Gf.Vec3d(123.45, 0, 0))

# generate a ray
ray = omni.kit.raycast.query.Ray((1000, 0, 0), (-1, 0, 0))

seq_id = raycast.add_raycast_sequence() # This line crashes the app

Please correct me if the function call is implemented wrongly.

Thanks.

Crash_log:

2025-04-03 23:31:51 [0ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash] A crash has occurred.  If a debugger should be attached, please set the '/crashreporter/debuggerAttachTimeoutMs' setting to a timeout in milliseconds.  This can be used to allow the crash reporter to wait for up to that long for a debugger to attach before processing or sending the crash report.
2025-04-03 23:31:51 [38ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash] compressing 3 files into '/home/haoyu/.local/share/ov/data/Kit/Isaac-Sim Full/4.5/0f8147ad-a2f7-4ddb-54f231b3-96a6afa4.dmp.zip' for upload.
2025-04-03 23:31:52 [349ms] [Info] [carb.crashreporter-breakpad.plugin] attempting to delete the file '/home/haoyu/.local/share/ov/data/Kit/Isaac-Sim Full/4.5/0f8147ad-a2f7-4ddb-54f231b3-96a6afa4.dmp' with 10 retries remaining.
2025-04-03 23:31:52 [354ms] [Info] [carb.crashreporter-breakpad.plugin] attempting to delete the file '/home/haoyu/.local/share/ov/data/Kit/Isaac-Sim Full/4.5/0f8147ad-a2f7-4ddb-54f231b3-96a6afa4.dmp.toml' with 10 retries remaining.
2025-04-03 23:31:52 [366ms] [Error] [carb.crashreporter-breakpad.plugin] 'crashreport.gui' exited with code 127
2025-04-03 23:31:52 [369ms] [Error] [carb.crashreporter-breakpad.plugin] [crash] Wrote dump file '/home/haoyu/.local/share/ov/data/Kit/Isaac-Sim Full/4.5/0f8147ad-a2f7-4ddb-54f231b3-96a6afa4.dmp.zip'
2025-04-03 23:31:52 [370ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash] preventing upload of minidump due to user opt-out: '/home/haoyu/.local/share/ov/data/Kit/Isaac-Sim Full/4.5/0f8147ad-a2f7-4ddb-54f231b3-96a6afa4.dmp.zip'
2025-04-03 23:31:52 [370ms] [Error] [carb.crashreporter-breakpad.plugin] [crash]     dump file size is 605391 bytes, file is readable.
2025-04-03 23:31:52 [372ms] [Fatal] [carb.crashreporter-breakpad.plugin] [crash] Crash detected in pid 62486 thread 62486
2025-04-03 23:31:52 [372ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash] Crash metadata:
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2025-04-03 23:31:52 [374ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  CarbSdkVersion = '180.6+release.7436.c5558fdf.gl'
2025-04-03 23:31:52 [374ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  CrashTime = 'Thu Apr  3 23:31:51 2025 GMT'
2025-04-03 23:31:52 [375ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  DriverShaderCacheWrapper = 'disabled'
2025-04-03 23:31:52 [376ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  DumpId = '0f8147ad-a2f7-4ddb-54f231b3-96a6afa4'
2025-04-03 23:31:52 [376ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  LastUploadStatus = '0'
2025-04-03 23:31:52 [377ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  ProductName = 'OmniverseKit'
2025-04-03 23:31:52 [377ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  PythonTracebackStatus = ''py-spy' successfully wrote info to '/home/haoyu/.local/share/ov/data/Kit/Isaac-Sim Full/4.5/0f8147ad-a2f7-4ddb-54f231b3-96a6afa4.py.txt''
2025-04-03 23:31:52 [378ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  RetryCount = '0'
2025-04-03 23:31:52 [379ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  StartupTime = '1743716985'
2025-04-03 23:31:52 [379ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  UploadSuccessful = '0'
2025-04-03 23:31:52 [380ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  UptimeSeconds = '6126'
2025-04-03 23:31:52 [381ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  UserStory = ''
2025-04-03 23:31:52 [381ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  UserStoryStatus = ''crashreport.gui' exited with code 127'
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2025-04-03 23:31:52 [422ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  nvidia-smi = '
==============NVSMI LOG==============

Timestamp                                 : Thu Apr  3 17:49:46 2025
Driver Version                            : 535.183.01
CUDA Version                              : 12.2

Attached GPUs                             : 1
GPU 00000000:91:00.0
    Product Name                          : NVIDIA GeForce RTX 3090
    Product Brand                         : GeForce
    Product Architecture                  : Ampere
    Display Mode                          : Enabled
    Display Active                        : Enabled
    Persistence Mode                      : Disabled
    Addressing Mode                       : None
    MIG Mode
        Current                           : N/A
        Pending                           : N/A
    Accounting Mode                       : Disabled
    Accounting Mode Buffer Size           : 4000
    Driver Model
        Current                           : N/A
        Pending                           : N/A
    Serial Number                         : N/A
    GPU UUID                              : GPU-4b354a1f-3931-202b-591f-6347c882d013
    Minor Number                          : 0
    VBIOS Version                         : 94.02.26.80.80
    MultiGPU Board                        : No
    Board ID                              : 0x9100
    Board Part Number                     : N/A
    GPU Part Number                       : 2204-300-A1
    FRU Part Number                       : N/A
    Module ID                             : 1
    Inforom Version
        Image Version                     : G001.0000.03.03
        OEM Object                        : 2.0
        ECC Object                        : N/A
        Power Management Object           : N/A
    Inforom BBX Object Flush
        Latest Timestamp                  : N/A
        Latest Duration                   : N/A
    GPU Operation Mode
        Current                           : N/A
        Pending                           : N/A
    GSP Firmware Version                  : N/A
    GPU Virtualization Mode
        Virtualization Mode               : None
        Host VGPU Mode                    : N/A
    GPU Reset Status
        Reset Required                    : No
        Drain and Reset Recommended       : No
    IBMNPU
        Relaxed Ordering Mode             : N/A
    PCI
        Bus                               : 0x91
        Device                            : 0x00
        Domain                            : 0x0000
        Device Id                         : 0x220410DE
        Bus Id                            : 00000000:91:00.0
        Sub System Id                     : 0x38801028
        GPU Link Info
            PCIe Generation
                Max                       : 3
                Current                   : 3
                Device Current            : 3
                Device Max                : 4
                Host Max                  : 3
            Link Width
                Max                       : 16x
                Current                   : 16x
        Bridge Chip
            Type                          : N/A
            Firmware                      : N/A
        Replays Since Reset               : 0
        Replay Number Rollovers           : 0
        Tx Throughput                     : 0 KB/s
        Rx Throughput                     : 114000 KB/s
        Atomic Caps Inbound               : N/A
        Atomic Caps Outbound              : N/A
    Fan Speed                             : 65 %
    Performance State                     : P2
    Clocks Event Reasons
        Idle                              : Not Active
        Applications Clocks Setting       : Not Active
        SW Power Cap                      : Not Active
        HW Slowdown                       : Not Active
            HW Thermal Slowdown           : Not Active
            HW Power Brake Slowdown       : Not Active
        Sync Boost                        : Not Active
        SW Thermal Slowdown               : Not Active
        Display Clock Setting             : Not Active
    Sparse Operation Mode                 : N/A
    FB Memory Usage
        Total                             : 24576 MiB
        Reserved                          : 349 MiB
        Used                              : 2143 MiB
        Free                              : 22082 MiB
    BAR1 Memory Usage
        Total                             : 256 MiB
        Used                              : 49 MiB
        Free                              : 207 MiB
    Conf Compute Protected Memory Usage
        Total                             : 0 MiB
        Used                              : 0 MiB
        Free                              : 0 MiB
    Compute Mode                          : Default
    Utilization
        Gpu                               : 1 %
        Memory                            : 0 %
        Encoder                           : 0 %
        Decoder                           : 0 %
        JPEG                              : 0 %
        OFA                               : 0 %
    Encoder Stats
        Active Sessions                   : 0
        Average FPS                       : 0
        Average Latency                   : 0
    FBC Stats
        Active Sessions                   : 0
        Average FPS                       : 0
        Average Latency                   : 0
    ECC Mode
        Current                           : N/A
        Pending                           : N/A
    ECC Errors
        Volatile
            SRAM Correctable              : N/A
            SRAM Uncorrectable Parity     : N/A
            SRAM Uncorrectable SEC-DED    : N/A
            DRAM Correctable              : N/A
            DRAM Uncorrectable            : N/A
        Aggregate
            SRAM Correctable              : N/A
            SRAM Uncorrectable Parity     : N/A
            SRAM Uncorrectable SEC-DED    : N/A
            DRAM Correctable              : N/A
            DRAM Uncorrectable            : N/A
            SRAM Threshold Exceeded       : N/A
        Aggregate Uncorrectable SRAM Sources
            SRAM L2                       : N/A
            SRAM SM                       : N/A
            SRAM Microcontroller          : N/A
            SRAM PCIE                     : N/A
            SRAM Other                    : N/A
    Retired Pages
        Single Bit ECC                    : N/A
        Double Bit ECC                    : N/A
        Pending Page Blacklist            : N/A
    Remapped Rows                         : N/A
    Temperature
        GPU Current Temp                  : 63 C
        GPU T.Limit Temp                  : N/A
        GPU Shutdown Temp                 : 98 C
        GPU Slowdown Temp                 : 95 C
        GPU Max Operating Temp            : 93 C
        GPU Target Temperature            : 83 C
        Memory Current Temp               : N/A
        Memory Max Operating Temp         : N/A
    GPU Power Readings
        Power Draw                        : 118.57 W
        Current Power Limit               : 350.00 W
        Requested Power Limit             : 350.00 W
        Default Power Limit               : 350.00 W
        Min Power Limit                   : 100.00 W
        Max Power Limit                   : 350.00 W
    Module Power Readings
        Power Draw                        : N/A
        Current Power Limit               : N/A
        Requested Power Limit             : N/A
        Default Power Limit               : N/A
        Min Power Limit                   : N/A
        Max Power Limit                   : N/A
    Clocks
        Graphics                          : 1695 MHz
        SM                                : 1695 MHz
        Memory                            : 9501 MHz
        Video                             : 1485 MHz
    Applications Clocks
        Graphics                          : N/A
        Memory                            : N/A
    Default Applications Clocks
        Graphics                          : N/A
        Memory                            : N/A
    Deferred Clocks
        Memory                            : N/A
    Max Clocks
        Graphics                          : 2100 MHz
        SM                                : 2100 MHz
        Memory                            : 9751 MHz
        Video                             : 1950 MHz
    Max Customer Boost Clocks
        Graphics                          : N/A
    Clock Policy
        Auto Boost                        : N/A
        Auto Boost Default                : N/A
    Voltage
        Graphics                          : 893.750 mV
    Fabric
        State                             : N/A
        Status                            : N/A
    Processes
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 8489
            Type                          : G
            Name                          : ............./Xorg
            Used GPU Memory               : 86 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 8808
            Type                          : G
            Name                          : ......../kwin_x11
            Used GPU Memory               : 254 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 8822
            Type                          : G
            Name                          : ......../plasmashell
            Used GPU Memory               : 4 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 10158
            Type                          : G
            Name                          : ................/firefox
            Used GPU Memory               : 29 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 10489
            Type                          : G
            Name                          : ................................./kscreenlocker_greet
            Used GPU Memory               : 4 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 14338
            Type                          : G
            Name                          : ............./Xorg
            Used GPU Memory               : 581 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 14513
            Type                          : G
            Name                          : ......../kwin_x11
            Used GPU Memory               : 224 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 14522
            Type                          : G
            Name                          : ......../plasmashell
            Used GPU Memory               : 127 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 15643
            Type                          : G
            Name                          : ................/firefox
            Used GPU Memory               : 217 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 22269
            Type                          : G
            Name                          : .............../code
            Used GPU Memory               : 154 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 62374
            Type                          : C
            Name                          : 
            Used GPU Memory               : 254 MiB
        GPU instance ID                   : N/A
        Compute instance ID               : N/A
        Process ID                        : 62486
            Type                          : C
            Name                          : ......................../kit
            Used GPU Memory               : 18 MiB

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2025-04-03 23:31:52 [426ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  runEnvironment = 'Individual'
2025-04-03 23:31:52 [427ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  runningInContainer = '0'
2025-04-03 23:31:52 [427ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  shaderdb_debugSymbols = '0'
2025-04-03 23:31:52 [428ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  shaderdb_dumpIncludeOverrides = '0'
2025-04-03 23:31:52 [429ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  shaderdb_dumpIntermediates = '0'
2025-04-03 23:31:52 [429ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  shaderdb_obfuscateCode = '1'
2025-04-03 23:31:52 [430ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  shaderdb_optimizationLevel = '1'
2025-04-03 23:31:52 [431ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  systemInfo = '
|---------------------------------------------------------------------------------------------|
| Driver Version: 535.183.01    | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 3090          | Yes: 0 |     | 24822   MB | 10de      | 0          |
|     |                                  |        |     |            | 2204      | 4b354a1f.. |
|     |                                  |        |     |            | 91        |            |
|=============================================================================================|
| OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-136-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: Intel(R) Xeon(R) W-2245 CPU @ 3.90GHz
| Cores: 8 | Logical Cores: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31775 | Free Memory: 9824
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2029
|---------------------------------------------------------------------------------------------|
'
2025-04-03 23:31:52 [431ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  telemetrySessionId = '126613223920617399'
2025-04-03 23:31:52 [432ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  terminatedByAbort = '0'
2025-04-03 23:31:52 [432ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  totalRamBareMetalMB = '31775'
2025-04-03 23:31:52 [433ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  totalRamLimitedMB = '31775'
2025-04-03 23:31:52 [434ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  totalSwapBareMetalMB = '2047'
2025-04-03 23:31:52 [434ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  totalSwapLimitedMB = '2047'
2025-04-03 23:31:52 [435ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  userId = 'default'
2025-04-03 23:31:52 [436ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash]  workingDirectory = '/home/<username>/isaacsim'
2025-04-03 23:31:52 [436ms] [Fatal] [carb.crashreporter-breakpad.plugin] [crash] Thread 62486 backtrace follows:
2025-04-03 23:31:52 [456ms] [Fatal] [carb.crashreporter-breakpad.plugin] 000: libpthread.so.0!funlockfile+0x60 (sigaction.c:?)
2025-04-03 23:31:52 [463ms] [Fatal] [carb.crashreporter-breakpad.plugin] 001: librtx.raytracing.plugin.so!std::_Hashtable<int, std::pair<int const, int>, std::allocator<std::pair<int const, int> >, std::__detail::_Select1st, std::equal_to<int>, std::hash<int>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, false, true> >::_M_insert_unique_node(unsigned long, unsigned long, std::__detail::_Hash_node<std::pair<int const, int>, false>*)+0x4faa (??:?)
2025-04-03 23:31:52 [472ms] [Fatal] [carb.crashreporter-breakpad.plugin] 002: libomni.kit.raycast.query.plugin.so!std::string::_M_mutate(unsigned long, unsigned long, unsigned long)+0x24b0 (??:?)
2025-04-03 23:31:52 [477ms] [Fatal] [carb.crashreporter-breakpad.plugin] 003: libomni.kit.raycast.query.plugin.so!carbOnPluginPreStartup+0x6bf (??:?)
2025-04-03 23:31:52 [484ms] [Fatal] [carb.crashreporter-breakpad.plugin] 004: libcarb.events.plugin.so!std::string __gnu_cxx::__to_xstring<std::string, char>(int (*)(char*, unsigned long, char const*, __va_list_tag*), unsigned long, char const*, ...)+0x6d9a (??:?)
2025-04-03 23:31:52 [491ms] [Fatal] [carb.crashreporter-breakpad.plugin] 005: libcarb.events.plugin.so!std::string __gnu_cxx::__to_xstring<std::string, char>(int (*)(char*, unsigned long, char const*, __va_list_tag*), unsigned long, char const*, ...)+0x7145 (??:?)
2025-04-03 23:31:52 [497ms] [Fatal] [carb.crashreporter-breakpad.plugin] 006: libcarb.events.plugin.so!std::string __gnu_cxx::__to_xstring<std::string, char>(int (*)(char*, unsigned long, char const*, __va_list_tag*), unsigned long, char const*, ...)+0x7281 (??:?)
double free or corruption (out)