Isaacsim freezes every time launching, after [ext: omni.appwindow-1.1.10] startup for 200 seconds

[MarioCavero]

kit_20260226_110615.log

Description

I am experiencing an issue with loading times every time that anything on isaac is launched. I have compared also the workstation and docker versions. For more information, this is a laptop, HP OMEN MAX 016. specs:
Ubuntu Ubuntu 24.04.3 LTS, 64 ram, nvidia rtx 5070 ti.

The freeze behavior is screenwise and mouse. sometimes mouse can be moved, but nothing else works until the renderer has finished:
[236.033s] [ext: omni.kit.renderer.capture-0.0.0] startup. Music on a chrome tab keeps playing though. dmesg journaling doesn't.

isaacsim compatibility seems good, ignore the battery cpu governor, as I have ran this with performance and powersave, getting the same results. I have also ran some tests and setting, sometimes isaac will get it as powersave but it is in performance.

Even isaac compatibility checker takes a lot of time

|---------------------------------------------------------------------------------------------|
| Driver Version: 570.211.01    | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 5070 Ti Lap.. | Yes: 0 |     | 12227   MB | 10de      | 0          |
|     |                                  |        |     |            | 2f58      | df9c8e02.. |
|     |                                  |        |     |            | 2         |            |
|---------------------------------------------------------------------------------------------|
| 1   | Intel(R) Graphics (ARL)          |        |     | 47783   MB | 8086      | 0          |
|     |                                  |        |     |            | 7d67      | 8680677d.. |
|     |                                  |        |     |            | 0         |            |
|=============================================================================================|
| OS: 24.04.3 LTS (Noble Numbat) ubuntu, Version: 24.04.3, Kernel: 6.17.0-14-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101011 (1.21.1.11)
| Processor: Intel(R) Core(TM) Ultra 7 255HX
| Cores: 20 | Logical Cores: 20
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 63711 | Free Memory: 57719
| Total Page/Swap (MB): 8191 | Free Page/Swap: 8191
|---------------------------------------------------------------------------------------------|

The problem comes here:

[1.096s] [ext: omni.appwindow-1.1.10] startup
[34.661s] [ext: omni.kit.renderer.core-1.1.0] startup
[236.033s] [ext: omni.kit.renderer.capture-0.0.0] startup

this happens when launching anything. I saw another issue, but the --info command does not seem to give the same error.
I recorded some logs for gpu and journalctl. I could find something interesting, repeated bursts of these every 2seconds more or less:

DFP-0: disconnected
DFP-1: disconnected

running ./isaac-sim.sh --no-window seems to "work" but the freeze persists

[29.130s] Isaac Sim Full App is loaded.

I tried with the cache as well as some vulkan pathings, but it seems to not help at all. First I thought it was an issue with docker, but after testing it on workstation... I do not know what is happening. /etc/vulkan does not exist.

Isaac Sim version

5.1.0

Operating System (OS)

Ubuntu 24.04

GPU Name

RTX 4070 ti

GPU Driver and CUDA versions

Driver Version: 570.211.01 CUDA Version: 12.8

Logs

logs in ~/.nvidia-omniverse/logs/Kit/Isaac-Sim Full/5.1

2026-02-26T10:06:35Z [20,194ms] [Info] [omni.ext.plugin] About to startup: [ext: omni.kit.renderer.core-1.1.0] (order: 0) Triggered by: isaacsim.exp.full-5.1.0, isaacsim.util.debug_draw-3.1.0, omni.graph.core-2.184.5, omni.kit.renderer.capture-0.0.0, omni.kit.renderer.imgui-2.0.5, omni.kit.uiapp-0.0.0, omni.kit.window.collection-0.3.1 (path: /home//isaacsim/extscache/omni.kit.renderer.core-1.1.0+69cbf6ad.lx64.r.cp311)
2026-02-26T10:06:35Z [20,194ms] [Info] [omni.kit.app.plugin] [20.214s] [ext: omni.kit.renderer.core-1.1.0] startup
2026-02-26T10:06:35Z [20,195ms] [Info] [carb] Registered plugin: omni.kit.renderer_test.plugin (interfaces: [omni::kit::renderer::IRendererTest v0.1]) (impl: omni.kit.renderer_test.plugin)
2026-02-26T10:06:35Z [20,195ms] [Info] [carb] Registered plugin: omni.kit.renderer.ext.plugin (interfaces: [omni::ext::IExt v0.1]) (impl: omni.kit.renderer.ext.plugin)
2026-02-26T10:06:35Z [20,195ms] [Info] [carb] Registered plugin: omni.kit.renderer.plugin (interfaces: [omni::kit::renderer::IGpuFoundation v1.1],[omni::kit::renderer::IRenderer v1.9]) (impl: omni.kit.renderer.plugin)
2026-02-26T10:06:35Z [20,195ms] [Info] [carb] Initializing plugin: omni.kit.renderer.ext.plugin (interfaces: [omni::ext::IExt v0.1]) (impl: omni.kit.renderer.ext.plugin)
2026-02-26T10:06:35Z [20,195ms] [Info] [omni.ext.plugin] [ext: omni.kit.renderer.core-1.1.0] Starting ext::IExt in '/home//isaacsim/extscache/omni.kit.renderer.core-1.1.0+69cbf6ad.lx64.r.cp311/bin/libomni.kit.renderer.ext.plugin.so'
2026-02-26T10:06:35Z [20,195ms] [Info] [carb] Initializing plugin: omni.kit.renderer.plugin (interfaces: [omni::kit::renderer::IGpuFoundation v1.1],[omni::kit::renderer::IRenderer v1.9]) (impl: omni.kit.renderer.plugin)
2026-02-26T10:06:35Z [20,196ms] [Info] [omni.kit.renderer.plugin] Added dataSource connection for prefix '/'
2026-02-26T10:06:35Z [20,204ms] [Info] [carb] Initializing plugin: carb.blockcompression.plugin (interfaces: [carb::blockcompression::BlockCompression v0.2]) (impl: carb.blockcompression.plugin)
2026-02-26T10:06:35Z [20,223ms] [Info] [omni.kit.renderer.plugin] Attaching default app window "Isaac Sim Full 5.1.0"
2026-02-26T10:09:42Z [206,598ms] [Info] [gpu.foundation.plugin] Setting mgpu copy backend to 'copyQueue'

I tried with VK_LOADER_DEBUG=all ./isaac-sim.sh 2>&1 | tee to a file.
there are several repeated:

DRIVER: Searching for driver manifest files
...
Found ICD manifest file /usr/share/vulkan/icd.d/nvidia_icd.json
...
Found ICD manifest file /usr/share/vulkan/icd.d/intel_icd.json
...

Maybe something related to VkLayer_MESA_device_select.json? Maybe due to the hybrid system of gpu nvidia and intel? Although isaac ignores it so...

Additional information

Added an example of log

kit_20260226_110615.log

kit_20260226_110615.log

[vick-yu]

The behavior appears very similar to #505.
Could you please go through the narrow-down steps listed there and let us know which ones you tried and what results you see?
This will help confirm whether you are hitting the same underlying issue or something different.

[MarioCavero]

Hello. Thank you for the quick reply @vick-yu . And thanks for pointing me to that issue. I tested the 3 proposed tests:

Test1: Try headless/standalone (no GUI) to see if the delay is purely in the window/renderer path.

Did not work, same behavior actually... So that discarded some options and pointed towards something gpu related. I measured some tests about the freeze behavior but they are now irrelevant (test 3)

Test 2: Driver/version: Please try one of the recommended versions, 580.65.06 or 580.95.05 as as newer/older drivers can change initialization behavior. For Isaac Sim 5.1.0 and Blackwell, please try 580.65.06 or 580.95.05 as listed in:
https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/requirements.html#system-requirements
https://docs.omniverse.nvidia.com/dev-guide/latest/common/technical-requirements.html#blackwell

Did not work. The updated versions are Driver Version: 580.126.20 CUDA Version: 13.0, and still, same behavior.

Test 3: Single-GPU boot (if possible): Booting with only the dGPU active (e.g. BIOS set to discrete-only) can rule out hybrid-GPU interaction at startup.

It worked! It was on nvidia advanced optimus, the hybrid mode, there was direct (nvidia) and UMA (intel) as well. Switching to direct made everything run as I guess it is supposed to, very fast compared to these freezes, and without the freeze itself. I guess that's also related to the info I saw the DFP disconnections. I will leave the cuda and nvidia driver versions as they are, although I think newer and older will work. Thank you very much again for your time and insights. I will close the issue with this comment.

[yunhorace]

Mine was resolved the same way, thanks for the inspiration!

[mu-shui]

我也有一样的问题，感觉暗影精灵都是这样的

Device: HP Omen Max（暗影精灵 5080 Ultra 9）
Mode: Advanced Optimus

Issue:
- 开机异常缓慢
- 无法调节亮度
- GPU 调用异常

Workaround:
- 切换回 discrete 模式后恢复正常