[Bug Report] Isaac Sim 5.0.0 segfault when calling `simulation_app.close()` with `headless=True`

[hesic73]

Describe the bug

I previously reported issue #266 for Isaac Sim 2023.1.1. After setting up Isaac Sim 5.0.0, it crashes when calling simulation_app.close() in headless mode. I realize the RTX 3060 is not on the supported list, but the identical workflow worked for me on Isaac Sim 4.5.0.

Steps to reproduce

Install Isaac Lab following https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/pip_installation.html.

conda activate env_isaaclab
python - <<'PY'
from isaaclab.app import AppLauncher
app = AppLauncher(headless=True)
app.app.close()
PY

Full Logs: kit_20251015_162414.log

[INFO][AppLauncher]: Using device: cuda:0
[INFO][AppLauncher]: Loading experience file: /home/admin1/25fall/IsaacLab/apps/isaaclab.python.headless.kit
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: '/home/admin1/anaconda3/envs/env_isaaclab/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
[Info] [carb] Logging to file: /home/admin1/anaconda3/envs/env_isaaclab/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20251015_162414.log
2025-10-15T23:24:14Z [54ms] [Warning] [carb.omniclient.plugin]  Main: core: Ignoring proxy 'localhost:8891' from omniverse.toml. This is a stale configuration from omniverse cache v1. Please remove this from your omniverse.toml.
2025-10-15T23:24:14Z [71ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
2025-10-15T23:24:14Z [589ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2025-10-15T23:24:28Z [14,526ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 770 (ADL-S GT1)
2025-10-15T23:24:28Z [14,526ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 770 (ADL-S GT1)

|---------------------------------------------------------------------------------------------|
| Driver Version: 575.57.08     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 3060          | Yes: 0 |     | 12534   MB | 10de      | 0          |
|     |                                  |        |     |            | 2504      | 4b7e8510.. |
|     |                                  |        |     |            | 1         |            |
|---------------------------------------------------------------------------------------------|
| 1   | Intel(R) UHD Graphics 770 (ADL.. |        |     | 23909   MB | 8086      | 0          |
|     |                                  |        |     |            | 4680      | 86808046.. |
|     |                                  |        |     |            | 0         |            |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.5.0-44-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: 12th Gen Intel(R) Core(TM) i5-12600K
| Bare Metal Cores: 10 | Bare Metal Logical Cores: 20
| Available Cores:  16 
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31879 | Free Memory: 21698
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2046
|---------------------------------------------------------------------------------------------|
2025-10-15T23:24:36Z [21,820ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
Fatal Python error: Segmentation fault

Thread 0x000075ab0dc35740 (most recent call first):
  File "/home/admin1/anaconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py", line 692 in close
  File "<stdin>", line 3 in <module>

Extension modules: omni.mdl.pymdlsdk._pymdlsdk, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, scipy._lib._ccallback_c, scipy.sparse._sparsetools, _csparsetools, scipy.sparse._csparsetools, scipy.linalg._fblas, scipy.linalg._flapack, scipy.linalg.cython_lapack, scipy.linalg._cythonized_array_utils, scipy.linalg._solve_toeplitz, scipy.linalg._decomp_lu_cython, scipy.linalg._matfuncs_sqrtm_triu, scipy.linalg._matfuncs_expm, scipy.linalg._linalg_pythran, scipy.linalg.cython_blas, scipy.linalg._decomp_update, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.linalg._propack._spropack, scipy.sparse.linalg._propack._dpropack, scipy.sparse.linalg._propack._cpropack, scipy.sparse.linalg._propack._zpropack, scipy.sparse.csgraph._tools, scipy.sparse.csgraph._shortest_path, scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._flow, scipy.sparse.csgraph._matching, scipy.sparse.csgraph._reordering, scipy.spatial._ckdtree, scipy._lib.messagestream, scipy.spatial._qhull, scipy.spatial._voronoi, scipy.spatial._distance_wrap, scipy.spatial._hausdorff, scipy.special._ufuncs_cxx, scipy.special._ufuncs, scipy.special._specfun, scipy.special._comb, scipy.special._ellip_harm_2, scipy.spatial.transform._rotation, torch._C, torch._C._dynamo.autograd_compiler, torch._C._dynamo.eval_frame, torch._C._dynamo.guards, torch._C._dynamo.utils, torch._C._fft, torch._C._linalg, torch._C._nested, torch._C._nn, torch._C._sparse, torch._C._special, yaml._yaml, PIL._imaging, scipy.optimize._group_columns, scipy.optimize._trlib._trlib, scipy.optimize._lbfgsb, _moduleTNC, scipy.optimize._moduleTNC, scipy.optimize._cobyla, scipy.optimize._slsqp, scipy.optimize._minpack, scipy.optimize._lsq.givens_elimination, scipy.optimize._zeros, scipy.optimize._cython_nnls, scipy._lib._uarray._uarray, scipy.linalg._decomp_interpolative, scipy.optimize._bglu_dense, scipy.optimize._lsap, scipy.optimize._direct, psutil._psutil_linux, psutil._psutil_posix, lxml._elementpath, lxml.etree, scipy.ndimage._nd_image, scipy.ndimage._rank_filter_1d, _ni_label, scipy.ndimage._ni_label, scipy.interpolate._fitpack, scipy.interpolate._dfitpack, scipy.interpolate._dierckx, scipy.interpolate._ppoly, scipy.interpolate._interpnd, scipy.interpolate._rbfinterp_pythran, scipy.interpolate._rgi_cython, scipy.interpolate._bspl, h5py._errors, h5py.defs, h5py._objects, h5py.h5, h5py.utils, h5py.h5t, h5py.h5s, h5py.h5ac, h5py.h5p, h5py.h5r, h5py._proxy, h5py._conv, h5py.h5z, h5py.h5a, h5py.h5d, h5py.h5ds, h5py.h5g, h5py.h5i, h5py.h5o, h5py.h5f, h5py.h5fd, h5py.h5pl, h5py.h5l, h5py._selector, kiwisolver._cext, hid, hppfcl.hppfcl, pinocchio.pinocchio_pywrap, nlopt._nlopt, PIL._imagingft (total: 129)
[1]    383280 segmentation fault (core dumped)  python - <<<''

Interestingly, if I use headless=False, no error occurs:

python - <<'PY'
from isaaclab.app import AppLauncher
app = AppLauncher(headless=False)
app.app.close()
PY

[INFO][AppLauncher]: Using device: cuda:0
[INFO][AppLauncher]: Loading experience file: /home/admin1/25fall/IsaacLab/apps/isaaclab.python.kit
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: '/home/admin1/anaconda3/envs/env_isaaclab/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
[Info] [carb] Logging to file: /home/admin1/anaconda3/envs/env_isaaclab/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20251015_162919.log
[0.036s] [ext: omni.kit.async_engine-0.0.3] startup
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[0.115s] [ext: omni.client-1.3.0] startup
2025-10-15T23:29:19Z [103ms] [Warning] [carb.omniclient.plugin]  Main: core: Ignoring proxy 'localhost:8891' from omniverse.toml. This is a stale configuration from omniverse cache v1. Please remove this from your omniverse.toml.
[0.120s] [ext: omni.ujitso.default-1.0.0] startup
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[0.133s] [ext: carb.windowing.plugins-1.0.0] startup
[0.162s] [ext: omni.kit.renderer.init-0.0.0] startup
2025-10-15T23:29:20Z [471ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 770 (ADL-S GT1)
2025-10-15T23:29:20Z [471ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 770 (ADL-S GT1)

|---------------------------------------------------------------------------------------------|
| Driver Version: 575.57.08     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 3060          | Yes: 0 |     | 12534   MB | 10de      | 0          |
|     |                                  |        |     |            | 2504      | 4b7e8510.. |
|     |                                  |        |     |            | 1         |            |
|---------------------------------------------------------------------------------------------|
| 1   | Intel(R) UHD Graphics 770 (ADL.. |        |     | 23909   MB | 8086      | 0          |
|     |                                  |        |     |            | 4680      | 86808046.. |
|     |                                  |        |     |            | 0         |            |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.5.0-44-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: 12th Gen Intel(R) Core(TM) i5-12600K
| Bare Metal Cores: 10 | Bare Metal Logical Cores: 20
| Available Cores:  16 
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31879 | Free Memory: 22555
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2046
|---------------------------------------------------------------------------------------------|
2025-10-15T23:29:20Z [711ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
[0.874s] [ext: omni.materialx.libs-1.0.7] startup
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2025-10-15T23:30:28Z [68,667ms] [Warning] [omni.usd.audio] failed to subscribe to stage events
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[68.970s] [ext: isaacsim.core.version-2.0.6] startup
[68.970s] [ext: omni.warp.core-1.7.1] startup
[69.085s] [ext: omni.usd.metrics.assembler.physics-107.3.18] startup
[69.086s] [ext: omni.isaac.dynamic_control-2.0.7] startup
2025-10-15T23:30:28Z [69,076ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
[69.090s] [ext: isaacsim.storage.native-1.2.8] startup
[69.091s] [ext: isaacsim.core.utils-3.4.5] startup
[69.093s] [ext: omni.graph.tools-1.79.2] startup
[69.108s] [ext: omni.graph.action_core-1.1.7] startup
[69.110s] [ext: omni.graph-1.141.2] startup
[69.139s] [ext: omni.physx.tensors-107.3.18] startup
[69.145s] [ext: omni.graph.action_nodes-1.50.4] startup
[69.149s] [ext: isaacsim.core.simulation_manager-1.3.2] startup
[70.391s] [ext: omni.kit.usd.collect-2.4.5] startup
[70.395s] [ext: omni.kit.stage_templates-2.0.0] startup
[70.397s] [ext: isaacsim.core.prims-0.5.1] startup
[70.410s] [ext: omni.kit.usdz_export-1.0.9] startup
[70.414s] [ext: isaacsim.core.api-4.6.10] startup
[70.420s] [ext: omni.kit.tool.asset_importer-4.3.2] startup
[70.427s] [ext: omni.graph.action-1.130.0] startup
[70.428s] [ext: omni.kit.selection-0.1.6] startup
[70.430s] [ext: omni.ui_query-1.1.8] startup
[70.431s] [ext: omni.kit.stagerecorder.core-107.0.3] startup
[70.433s] [ext: omni.kit.widget.text_editor-1.1.1] startup
[70.435s] [ext: omni.kit.ui_test-1.3.6] startup
[70.436s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup
[70.438s] [ext: omni.kit.window.extensions-1.4.26] startup
[70.443s] [ext: omni.graph.visualization.nodes-2.1.3] startup
[70.452s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
[70.453s] [ext: isaacsim.gui.components-1.1.9] startup
[70.459s] [ext: isaacsim.gui.menu-2.3.17] startup
[70.632s] [ext: isaacsim.app.about-2.0.11] startup
[70.643s] [ext: isaacsim.asset.importer.mjcf-2.5.8] startup
[70.687s] [ext: semantics.schema.editor-2.0.1] startup
2025-10-15T23:30:30Z [70,677ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
[70.692s] [ext: semantics.schema.property-2.0.1] startup
[70.694s] [ext: isaacsim.core.cloner-1.4.9] startup
[70.696s] [ext: omni.graph.image.core-0.6.1] startup
[70.697s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
[70.698s] [ext: omni.graph.image.nodes-1.3.1] startup
[70.698s] [ext: omni.kit.window.stage-2.6.1] startup
[70.701s] [ext: omni.kit.widget.graph-2.0.0] startup
[70.705s] [ext: omni.kit.menu.create-2.0.1] startup
[70.707s] [ext: omni.syntheticdata-0.6.13] startup
[70.725s] [ext: isaacsim.util.debug_draw-3.1.0] startup
[70.728s] [ext: omni.kit.graph.delegate.default-1.2.2] startup
[70.730s] [ext: omni.kit.scripting-107.3.1] startup
[70.737s] [ext: isaacsim.sensors.physx-2.2.27] startup
[70.746s] [ext: omni.kit.graph.editor.core-1.5.3] startup
[70.752s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
[70.753s] [ext: omni.kit.widget.material_preview-1.0.16] startup
[70.755s] [ext: isaacsim.replicator.behavior-1.1.14] startup
[70.756s] [ext: isaacsim.simulation_app-2.9.2] startup
[70.757s] [ext: omni.anim.curve.core-1.3.1] startup
[70.765s] [ext: omni.graph.scriptnode-1.50.0] startup
[70.767s] [ext: omni.kit.window.material_graph-1.8.23] startup
[70.786s] [ext: omni.sensors.nv.common-2.7.0-coreapi] startup
[70.793s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[70.796s] [ext: omni.graph.nodes-1.170.10] startup
[70.804s] [ext: omni.graph.ui_nodes-1.50.5] startup
[70.806s] [ext: omni.sensors.net-0.4.0-coreapi] startup
[70.809s] [ext: omni.sensors.nv.materials-1.6.0-coreapi] startup
[70.813s] [ext: omni.videoencoding-0.1.2] startup
[70.815s] [ext: omni.sensors.nv.wpm-2.5.0-coreapi] startup
[70.817s] [ext: omni.warp-1.7.1] startup
[70.823s] [ext: omni.kit.manipulator.camera-106.0.4] startup
[70.830s] [ext: omni.sensors.nv.ids-1.5.0-coreapi] startup
[70.832s] [ext: omni.sensors.nv.lidar-2.7.0-coreapi] startup
[70.838s] [ext: omni.sensors.nv.radar-2.8.0-coreapi] startup
[70.878s] [ext: omni.replicator.core-1.12.16] startup
2025-10-15T23:30:30Z [70,979ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
[70.995s] [ext: omni.kit.property.audio-1.0.16] startup
[70.997s] [ext: omni.kit.property.camera-1.0.10] startup
[70.999s] [ext: omni.kit.property.light-1.0.12] startup
[71.008s] [ext: omni.kit.property.geometry-2.0.4] startup
[71.012s] [ext: isaacsim.core.nodes-3.2.16] startup
[71.024s] [ext: isaacsim.gui.property-1.1.3] startup
[71.032s] [ext: omni.kit.property.render-1.2.1] startup
[71.035s] [ext: omni.hydra.scene_api-0.1.2] startup
[71.043s] [ext: isaacsim.test.docstring-1.1.0] startup
[71.050s] [ext: isaacsim.core.experimental.utils-0.2.0] startup
[71.055s] [ext: omni.kit.widget.zoombar-1.0.6] startup
[71.060s] [ext: omni.kit.property.transform-1.5.12] startup
[71.074s] [ext: omni.kit.property.material-1.11.9] startup
[71.098s] [ext: isaacsim.core.experimental.prims-0.6.2] startup
[71.124s] [ext: omni.kit.browser.core-2.3.13] startup
[71.137s] [ext: omni.kit.property.bundle-1.4.1] startup
[71.165s] [ext: isaacsim.sensors.rtx-15.5.0] startup
[71.210s] [ext: omni.kit.viewport.menubar.camera-107.0.3] startup
[71.325s] [ext: isaacsim.robot.surface_gripper-3.2.6] startup
[71.328s] [ext: omni.kit.browser.folder.core-1.10.9] startup
[71.342s] [ext: isaacsim.sensors.physics-0.3.27] startup
[71.346s] [ext: omni.kit.tool.collect-2.2.18] startup
[71.352s] [ext: omni.kit.menu.stage-1.2.7] startup
[71.355s] [ext: isaacsim.robot.manipulators-3.3.5] startup
[71.362s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
[71.371s] [ext: omni.kit.viewport.menubar.render-107.0.9] startup
[71.378s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
[71.380s] [ext: isaacsim.examples.browser-0.1.12] startup
[71.387s] [ext: isaacsim.asset.importer.urdf-2.4.19] startup
[71.415s] [ext: omni.kit.window.console-1.1.4] startup
[71.426s] [ext: omni.physx.demos-107.3.18] startup
[71.444s] [ext: omni.kit.property.physx-107.3.18] startup
[71.463s] [ext: omni.rtx.window.settings-0.6.19] startup
[71.469s] [ext: omni.ocio-0.1.1] startup
[71.471s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
[71.485s] [ext: omni.asset_validator.core-0.25.4] startup
[71.527s] [ext: omni.physx.vehicle-107.3.18] startup
[71.544s] [ext: omni.rtx.settings.core-0.6.5] startup
[71.548s] [ext: omni.kit.window.script_editor-2.0.1] startup
[71.550s] [ext: isaacsim.robot.wheeled_robots-4.0.23] startup
[71.555s] [ext: omni.kit.window.toolbar-2.0.0] startup
[71.561s] [ext: omni.physx.asset_validator-107.3.18] startup
[71.572s] [ext: omni.physx.camera-107.3.18] startup
[71.586s] [ext: omni.physx.cct-107.3.18] startup
[71.601s] [ext: omni.physx.graph-107.3.18] startup
[71.615s] [ext: omni.physx.supportui-107.3.18] startup
[71.629s] [ext: omni.physx.telemetry-107.3.18] startup
[71.632s] [ext: omni.kit.window.status_bar-0.1.8] startup
[71.637s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
[71.649s] [ext: isaacsim.asset.browser-1.3.19] startup
[71.653s] [ext: isaacsim.core.throttling-2.1.10] startup
[71.655s] [ext: omni.kit.ui.actions-1.0.5] startup
[71.657s] [ext: omni.physx.bundle-107.3.18] startup
[71.657s] [ext: isaacsim.sensors.camera-1.3.1] startup
[71.663s] [ext: isaaclab-0.46.5] startup
[71.963s] [ext: isaaclab_assets-0.2.2] startup
[72.129s] [ext: isaaclab_tasks-0.11.1] startup
[73.031s] [ext: omni.kit.menu.common-2.0.0] startup
[73.032s] [ext: isaaclab_rl-0.4.1] startup
[73.033s] [ext: isaaclab_mimic-1.0.14] startup
[73.033s] [ext: isaaclab.python-2.2.1] startup
[73.035s] Simulation App Starting
2025-10-15T23:30:32Z [73,184ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
2025-10-15T23:30:32Z [73,205ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9

2025-10-15T23:30:33Z [73,302ms] [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.
[73.396s] app ready
2025-10-15T23:30:34Z [74,986ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-10-15T23:30:34Z [74,986ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-10-15T23:30:34Z [74,987ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
2025-10-15T23:30:34Z [75,065ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-10-15T23:30:34Z [75,065ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
[75.410s] Simulation App Startup Complete
[76.513s] Simulation App Shutting Down

System Info

• Commit: c372ae9
• Isaac Sim Version: 5.0.0
• OS: Ubuntu 22.04
• GPU: RTX 3060
• CUDA: 12.9
• GPU Driver: 575.57.08

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

[PeterL-NV]

From the full log you attached, you got the same behavior for both cases.
Can you try to run your test with isaaclab.sh -p _you_test.py to see if you still get the segfault?

[hesic73]

Yes, I still get the segfault.

tmp.py

from isaaclab.app import AppLauncher
app = AppLauncher(headless=True)
app.app.close()

CUDA_VISIBLE_DEVICES=0 ./isaaclab.sh -p tmp.py
[INFO] Using python from: /home/admin1/anaconda3/envs/env_isaaclab/bin/python  
[INFO][AppLauncher]: Using device: cuda:0
[INFO][AppLauncher]: Loading experience file: /home/admin1/25fall/IsaacLab/apps/isaaclab.python.headless.kit
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: '/home/admin1/anaconda3/envs/env_isaaclab/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
[Info] [carb] Logging to file: /home/admin1/anaconda3/envs/env_isaaclab/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20251016_133820.log
2025-10-16T20:38:20Z [464ms] [Warning] [carb.omniclient.plugin]  Main: core: Ignoring proxy 'localhost:8891' from omniverse.toml. This is a stale configuration from omniverse cache v1. Please remove this from your omniverse.toml.
2025-10-16T20:38:20Z [544ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
2025-10-16T20:38:21Z [1,315ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2025-10-16T20:38:28Z [8,009ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 770 (ADL-S GT1)
2025-10-16T20:38:28Z [8,009ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 770 (ADL-S GT1)

|---------------------------------------------------------------------------------------------|
| Driver Version: 575.57.08     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 3060          | Yes: 0 |     | 12534   MB | 10de      | 0          |
|     |                                  |        |     |            | 2504      | 4b7e8510.. |
|     |                                  |        |     |            | 1         |            |
|---------------------------------------------------------------------------------------------|
| 1   | Intel(R) UHD Graphics 770 (ADL.. |        |     | 23909   MB | 8086      | 0          |
|     |                                  |        |     |            | 4680      | 86808046.. |
|     |                                  |        |     |            | 0         |            |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.5.0-44-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: 12th Gen Intel(R) Core(TM) i5-12600K
| Bare Metal Cores: 10 | Bare Metal Logical Cores: 20
| Available Cores:  16 
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31879 | Free Memory: 18787
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2046
|---------------------------------------------------------------------------------------------|
2025-10-16T20:38:32Z [11,675ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
Fatal Python error: Segmentation fault

Thread 0x00007526b43ea740 (most recent call first):
  File "/home/admin1/anaconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py", line 692 in close
  File "/home/admin1/25fall/IsaacLab/tmp.py", line 3 in <module>

Extension modules: omni.mdl.pymdlsdk._pymdlsdk, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, scipy._lib._ccallback_c, scipy.sparse._sparsetools, _csparsetools, scipy.sparse._csparsetools, scipy.linalg._fblas, scipy.linalg._flapack, scipy.linalg.cython_lapack, scipy.linalg._cythonized_array_utils, scipy.linalg._solve_toeplitz, scipy.linalg._decomp_lu_cython, scipy.linalg._matfuncs_sqrtm_triu, scipy.linalg._matfuncs_expm, scipy.linalg._linalg_pythran, scipy.linalg.cython_blas, scipy.linalg._decomp_update, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.linalg._propack._spropack, scipy.sparse.linalg._propack._dpropack, scipy.sparse.linalg._propack._cpropack, scipy.sparse.linalg._propack._zpropack, scipy.sparse.csgraph._tools, scipy.sparse.csgraph._shortest_path, scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._flow, scipy.sparse.csgraph._matching, scipy.sparse.csgraph._reordering, scipy.spatial._ckdtree, scipy._lib.messagestream, scipy.spatial._qhull, scipy.spatial._voronoi, scipy.spatial._distance_wrap, scipy.spatial._hausdorff, scipy.special._ufuncs_cxx, scipy.special._ufuncs, scipy.special._specfun, scipy.special._comb, scipy.special._ellip_harm_2, scipy.spatial.transform._rotation, torch._C, torch._C._dynamo.autograd_compiler, torch._C._dynamo.eval_frame, torch._C._dynamo.guards, torch._C._dynamo.utils, torch._C._fft, torch._C._linalg, torch._C._nested, torch._C._nn, torch._C._sparse, torch._C._special, yaml._yaml, PIL._imaging, scipy.optimize._group_columns, scipy.optimize._trlib._trlib, scipy.optimize._lbfgsb, _moduleTNC, scipy.optimize._moduleTNC, scipy.optimize._cobyla, scipy.optimize._slsqp, scipy.optimize._minpack, scipy.optimize._lsq.givens_elimination, scipy.optimize._zeros, scipy.optimize._cython_nnls, scipy._lib._uarray._uarray, scipy.linalg._decomp_interpolative, scipy.optimize._bglu_dense, scipy.optimize._lsap, scipy.optimize._direct, psutil._psutil_linux, psutil._psutil_posix, lxml._elementpath, lxml.etree, scipy.ndimage._nd_image, scipy.ndimage._rank_filter_1d, _ni_label, scipy.ndimage._ni_label, scipy.interpolate._fitpack, scipy.interpolate._dfitpack, scipy.interpolate._dierckx, scipy.interpolate._ppoly, scipy.interpolate._interpnd, scipy.interpolate._rbfinterp_pythran, scipy.interpolate._rgi_cython, scipy.interpolate._bspl, h5py._errors, h5py.defs, h5py._objects, h5py.h5, h5py.utils, h5py.h5t, h5py.h5s, h5py.h5ac, h5py.h5p, h5py.h5r, h5py._proxy, h5py._conv, h5py.h5z, h5py.h5a, h5py.h5d, h5py.h5ds, h5py.h5g, h5py.h5i, h5py.h5o, h5py.h5f, h5py.h5fd, h5py.h5pl, h5py.h5l, h5py._selector, kiwisolver._cext, hid, hppfcl.hppfcl, pinocchio.pinocchio_pywrap, nlopt._nlopt, PIL._imagingft (total: 129)

Log: kit_20251016_135426.log

---

tmp2.py

from isaacsim import SimulationApp
app = SimulationApp({"headless": True})
app.close()

CUDA_VISIBLE_DEVICES=0 ./isaaclab.sh -p tmp2.py

Log: kit_20251016_134834.log