[Bug Report] GPU physics pipeline(not sure): cart joint (slider_to_cart) does not respond to effort commands in Isaac-Cartpole-Direct-v0 (works fine on CPU)



## Describe the bug

Using the official, unmodified `Isaac-Cartpole-Direct-v0` task, the cart
(`slider_to_cart` joint) never responds to any commanded joint effort when
running on the GPU physics pipeline (`--device cuda:0`, the default). The
pole (`cart_to_pole`, an unactuated/free joint) rotates normally under
gravity, confirming physics stepping itself is working — but the cart
never moves, even with `random_agent.py` sending nonzero random efforts
every step.

Switching to `--device cpu` fixes the issue immediately: the cart responds
to effort commands and moves as expected. This isolates the bug to the
GPU physics pipeline specifically, not to the environment/task config.

## Steps to reproduce

1. Run the zero/random agent scripts on GPU (default device):
   ```
   isaaclab.bat -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 4
   isaaclab.bat -p scripts/environments/random_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 4
   ```
2. Observe: the pole swings freely, but the cart never translates along
   the slider, regardless of the random effort values being sent.
3. Re-run the same command with `--device cpu`:
   ```
   isaaclab.bat -p scripts/environments/random_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 4 --device cpu
   ```
4. Observe: the cart now moves correctly in response to random effort.

## Things already ruled out

- Not a rendering/visibility issue — tested with both `--viz=kit` and
  `--viz=newton`; the physics backend registered in both cases was
  `physx` (confirmed in log: `Registered backend 'physx' for factory
  Articulation.`), and the symptom was identical regardless of visualizer.
- Not a scene-cloning/fabric issue — reproduced with
  `clone_in_fabric=False` and `replicate_physics=False` in
  `CartpoleEnvCfg.scene`; issue persists on GPU.
- Not a reward/training convergence issue — reproduced with
  `random_agent.py` (nonzero random efforts every step), not just during
  RL training, so it is not related to policy convergence toward
  low cart-velocity behavior.
- Joint simulation parameter table logged at startup for reference:
  ```
  | Index | Name           | Stiffness | Damping | Armature | ... | Effort Limits |
  |   0   | slider_to_cart |   0.000   | 10.000  |  0.000   | ... |    400.000    |
  |   1   | cart_to_pole   |   0.000   |  0.000  |  0.000   | ... |    400.000    |
  ```

## Expected behavior

The cart should respond to nonzero joint effort commands on the GPU
physics pipeline the same way it does on CPU, per the documented
behavior of `random_agent.py` (official docs state this script should
show "cart-poles moving around randomly").

## System info

- IsaacLab version/branch: release/3.0.0-Beta2
- Isaac Sim version: 6.0.0.1
- OS: Windows 11 25h2
- GPU: 4060laptop
- NVIDIA driver version: nvidia studio 610.88
- Python: 3.12.13

## PowerShell Context
 ```
PS C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab> conda activate env_isaaclab_beta
(env_isaaclab_beta) PS C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab> ./isaaclab.bat -p scripts/environments/random_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 4 --viz=kit
[INFO] Using Python: "C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\python.exe"
[INFO]: Parsing configuration from: isaaclab_tasks.direct.cartpole.cartpole_env_cfg:CartpoleEnvCfg
Loading user config located at: 'c:/users/blackool/miniconda3/envs/env_isaaclab_beta/lib/site-packages/isaacsim/kit/data/Kit/IsaacLab/3.0/user.config.json'
2026-08-02T17:37:22Z [0ms] [Warning] [omni.ext.plugin] [ext: isaaclab_visualizers] Extensions config 'extension.toml' doesn't exist 'c:/users/blackool/desktop/some_datafile/isaaclab/developbeta/isaaclab/source/isaaclab_visualizers' or 'c:/users/blackool/desktop/some_datafile/isaaclab/developbeta/isaaclab/source/isaaclab_visualizers/config'
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|---------------------------------------------------------------------------------------------|
| Driver Version: 610.88        | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 4060 Laptop.. | Yes: 0 |     | 7956    MB | 10de      | 22f2341d.. |
|     |                                  |        |     |            | 28e0      | a55341cd.. |
|     |                                  |        |     |            | 1         |            |
|---------------------------------------------------------------------------------------------|
| 1   | Intel(R) RaptorLake-S Mobile G.. |        |     | 16237   MB | 8086      | 0e080100.. |
|     |                                  |        |     |            | a78b      | 86808ba7.. |
|     |                                  |        |     |            | N/A       |            |
|=============================================================================================|
| OS: Windows 11 Home China, Version: 10.0 (25H2), Build: 26200, Kernel: 10.0.26100.8972
| Processor: Intel(R) Core(TM) i7-14650HX
| Cores: 16 | Logical Cores: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 32475 | Free Memory: 13404
| Total Page/Swap (MB): 65243 | Free Page/Swap: 41799
|---------------------------------------------------------------------------------------------|
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[7.547s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
[7.550s] [ext: omni.graph.visualization.nodes-2.1.4] startup
[7.591s] [ext: omni.kit.window.extensions-1.5.7] startup
[7.604s] [ext: isaacsim.gui.components-1.8.4] startup
[7.614s] [ext: isaacsim.examples.base-1.3.1] startup
[7.618s] [ext: omni.kit.widget.zoombar-1.0.7] startup
[7.621s] [ext: omni.kit.browser.core-2.3.18] startup
[7.631s] [ext: omni.kit.browser.folder.core-2.0.2] startup
[7.645s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
[7.647s] [ext: omni.kit.window.stage-2.6.1] startup
[7.654s] [ext: omni.kit.menu.stage-1.2.7] startup
[7.657s] [ext: omni.kit.usd.collect-3.0.5] startup
[7.663s] [ext: omni.kit.tool.collect-2.2.19] startup
[7.670s] [ext: isaacsim.examples.browser-0.3.1] startup
[7.677s] [ext: isaacsim.gui.property-1.6.2] startup
[7.690s] [ext: omni.behavior.scripting.core-110.1.0] startup
[7.699s] [ext: isaacsim.replicator.behavior-1.5.3] startup
[7.701s] [ext: isaacsim.robot.policy.examples-5.2.11] startup
[7.727s] [ext: isaacsim.sensors.experimental.physics-3.0.1] startup
[7.743s] [ext: omni.sensors.net-1.0.1] startup
[7.761s] [ext: omni.sensors.nv.common-3.0.0] startup
[7.793s] [ext: omni.sensors.nv.materials-2.0.0] startup
[7.807s] [ext: omni.sensors.nv.acoustic-3.0.0] startup
[7.818s] [ext: omni.sensors.nv.ids-2.0.1] startup
[7.823s] [ext: omni.sensors.nv.lidar-3.0.0] startup
[7.835s] [ext: omni.sensors.nv.radar-3.0.0] startup
[7.846s] [ext: isaacsim.sensors.experimental.rtx-1.4.3] startup
[8.157s] [ext: isaacsim.simulation_app-2.18.3] startup
[8.157s] [ext: isaacsim.util.debug_draw-3.2.2] startup
[8.170s] [ext: omni.anim.curve.core-1.6.0] startup
[8.194s] [ext: omni.asset_validator.core-1.19.3] startup
2026-08-02T17:37:30Z [8,104ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module omni.asset_validator.core. Error: cannot import name 'AlmostExtremeExtentChecker' from 'omni.asset_validator' (c:/users/blackool/miniconda3/envs/env_isaaclab_beta/lib/site-packages/isaacsim/extscache/omni.asset_validator.core-1.19.3/omni/asset_validator/__init__.py). Traceback:
Traceback (most recent call last):
  File "C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\custom_importer.py", line 107, in import_module
    return importlib.import_module(name)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\importlib\__init__.py", line 90, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 999, in exec_module
  File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
  File "c:/users/blackool/miniconda3/envs/env_isaaclab_beta/lib/site-packages/isaacsim/extscache/omni.asset_validator.core-1.19.3/omni/asset_validator/core/__init__.py", line 6, in <module>
    from omni.asset_validator import (
ImportError: cannot import name 'AlmostExtremeExtentChecker' from 'omni.asset_validator' (c:/users/blackool/miniconda3/envs/env_isaaclab_beta/lib/site-packages/isaacsim/extscache/omni.asset_validator.core-1.19.3/omni/asset_validator/__init__.py)

2026-08-02T17:37:30Z [8,105ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.asset_validator.core' in 'c:\users\blackool\miniconda3\envs\env_isaaclab_beta\lib\site-packages\isaacsim\extscache\omni.asset_validator.core-1.19.3' failed to load.

At:
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\_internal.py(240): startup
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\_internal.py(366): startup_extension      
  PythonExtension.cpp::startup()(2): <module>
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\exts\isaacsim.simulation_app\isaacsim\simulation_app\simulation_app.py(574): _start_app
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\exts\isaacsim.simulation_app\isaacsim\simulation_app\simulation_app.py(287): __init__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab\isaaclab\app\app_launcher.py(1208): _create_app
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab\isaaclab\app\app_launcher.py(300): __init__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab_tasks\isaaclab_tasks\utils\sim_launcher.py(466): launch_simulation
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\contextlib.py(137): __enter__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\scripts\environments\random_agent.py(51): main
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\scripts\environments\random_agent.py(86): <module>

2026-08-02T17:37:30Z [8,105ms] [Error] [omni.ext.plugin] [ext: omni.asset_validator.core-1.19.3] Failed to startup python extension.
[8.879s] [ext: omni.debugdraw-0.1.4] startup
[8.888s] [ext: omni.graph.ui_nodes-2.10.5] startup
[8.962s] [ext: omni.hydra.scene_api-0.1.3] startup
[8.966s] [ext: omni.kit.manipulator.camera-110.0.0] startup
[8.974s] [ext: omni.kit.manipulator.selector-1.1.4] startup
[8.977s] [ext: omni.kit.manipulator.transform-107.0.0] startup
[8.987s] [ext: omni.kit.widget.toolbar-2.1.0] startup
[9.003s] [ext: omni.kit.manipulator.tool.snap-1.5.14] startup
[9.013s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
[9.018s] [ext: omni.kit.manipulator.prim.core-108.0.2] startup
[9.031s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
[9.033s] [ext: omni.kit.manipulator.prim-108.0.0] startup
[9.034s] [ext: omni.kit.manipulator.selection-109.0.1] startup
[9.037s] [ext: omni.kit.menu.create-2.0.2] startup
[9.041s] [ext: omni.kit.property.audio-1.0.16] startup
[9.050s] [ext: omni.kit.property.camera-1.0.14] startup
[9.054s] [ext: omni.kit.property.geometry-2.1.2] startup
[9.060s] [ext: omni.kit.property.light-1.0.14] startup
2026-08-02T17:37:31Z [9,018ms] [Warning] [omni.usd] Encountered USD Warnings but USD Diagnostics are currently muted. To view USD Warnings, please set the '/persistent/app/usd/muteUsdDiagnostics' setting to false in Preferences page.
[9.138s] [ext: omni.kit.property.material-1.14.2] startup
[9.154s] [ext: omni.kit.property.render-1.2.2] startup
[9.157s] [ext: omni.kit.property.transform-1.6.9] startup
[9.164s] [ext: omni.kit.property.bundle-1.5.1] startup
[9.168s] [ext: omni.kit.viewport.actions-107.0.2] startup
[9.175s] [ext: omni.kit.viewport.menubar.display-107.1.3] startup
[9.179s] [ext: omni.physx.commands-110.1.11] startup
[9.183s] [ext: omni.usdphysics.ui-110.1.11] startup
[9.211s] [ext: omni.physx.ui-110.1.11] startup
[9.247s] [ext: omni.kit.property.physics-110.1.11] startup
[9.276s] [ext: omni.kit.stagerecorder.core-110.0.9] startup
[9.282s] [ext: omni.kit.stagerecorder.ui-110.0.0] startup
[9.289s] [ext: omni.kit.stagerecorder.bundle-110.0.0] startup
[9.289s] [ext: omni.kit.usdz_export-1.1.0] startup
[9.294s] [ext: omni.kit.tool.asset_importer-5.2.0] startup
[9.306s] [ext: omni.kit.ui.actions-1.0.5] startup
[9.309s] [ext: omni.ui_query-1.1.10] startup
[9.311s] [ext: omni.kit.ui_test-1.4.4] startup
[9.315s] [ext: omni.kit.viewport.menubar.camera-107.0.10] startup
[9.328s] [ext: omni.kit.viewport.menubar.lighting-107.3.2] startup
[9.334s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
[9.341s] [ext: omni.kit.viewport.menubar.settings-110.0.1] startup
[9.350s] [ext: omni.kit.window.console-1.1.8] startup
[9.359s] [ext: omni.kit.window.script_editor-2.0.7] startup
[9.366s] [ext: omni.kit.window.status_bar-0.1.11] startup
[9.369s] [ext: omni.kit.window.toolbar-3.0.3] startup
[9.372s] [ext: omni.ocio-0.1.1] startup
[9.375s] [ext: omni.physics.isaacsimready-110.1.11] startup
[9.384s] [ext: omni.physics.physx.ui-110.1.11] startup
[9.426s] [ext: omni.physics.ui-110.1.11] startup
[9.432s] [ext: omni.physx.asset_validator-110.1.11] startup
2026-08-02T17:37:32Z [9,337ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module omni.physxassetvalidator. Error: cannot import name 'ValidationRulesRegistry' from 'omni.asset_validator.core' (unknown location). Traceback:
Traceback (most recent call last):
  File "C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\custom_importer.py", line 107, in import_module
    return importlib.import_module(name)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\importlib\__init__.py", line 90, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 999, in exec_module
  File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
  File "c:/users/blackool/miniconda3/envs/env_isaaclab_beta/lib/site-packages/isaacsim/extscache/omni.physx.asset_validator-110.1.11+110.1.1.wx64.r.cp312.u7f4/omni/physxassetvalidator/__init__.py", line 16, in <module>
    from .scripts.extension import *
  File "c:/users/blackool/miniconda3/envs/env_isaaclab_beta/lib/site-packages/isaacsim/extscache/omni.physx.asset_validator-110.1.11+110.1.1.wx64.r.cp312.u7f4/omni/physxassetvalidator/scripts/extension.py", line 11, in <module>
    from omni.asset_validator.core import ValidationRulesRegistry
ImportError: cannot import name 'ValidationRulesRegistry' from 'omni.asset_validator.core' (unknown location)

2026-08-02T17:37:32Z [9,337ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.physxassetvalidator' in 'c:\users\blackool\miniconda3\envs\env_isaaclab_beta\lib\site-packages\isaacsim\extscache\omni.physx.asset_validator-110.1.11+110.1.1.wx64.r.cp312.u7f4' failed to load.

At:
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\_internal.py(240): startup
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\_internal.py(366): startup_extension      
  PythonExtension.cpp::startup()(2): <module>
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\exts\isaacsim.simulation_app\isaacsim\simulation_app\simulation_app.py(574): _start_app
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\exts\isaacsim.simulation_app\isaacsim\simulation_app\simulation_app.py(287): __init__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab\isaaclab\app\app_launcher.py(1208): _create_app
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab\isaaclab\app\app_launcher.py(300): __init__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab_tasks\isaaclab_tasks\utils\sim_launcher.py(466): launch_simulation
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\contextlib.py(137): __enter__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\scripts\environments\random_agent.py(51): main
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\scripts\environments\random_agent.py(86): <module>

2026-08-02T17:37:32Z [9,338ms] [Error] [omni.ext.plugin] [ext: omni.physx.asset_validator-110.1.11] Failed to startup python extension.
[9.807s] [ext: omni.physx.demos-110.1.11] startup
[9.857s] [ext: omni.physx.vehicle-110.1.11] startup
[9.888s] [ext: omni.physx.camera-110.1.11] startup
[9.902s] [ext: omni.physx.cct-110.1.11] startup
[9.961s] [ext: omni.physx.graph-110.1.11] startup
[10.037s] [ext: omni.physx.supportui-110.1.11] startup
[10.058s] [ext: omni.physx.bundle-110.1.11] startup
[10.058s] [ext: omni.replicator.replicator_yaml-2.0.12] startup
[10.092s] [ext: omni.rtx.window.settings-0.8.0] startup
[10.103s] [ext: omni.rtx.settings.core-0.7.0] startup
[10.110s] [ext: omni.usd.metrics.assembler.ui-110.1.1] startup
[10.123s] [ext: semantics.schema.editor-2.0.2] startup
[10.128s] [ext: semantics.schema.property-2.0.1] startup
[10.133s] [ext: isaaclab_assets-0.3.5] startup
[10.407s] [ext: isaaclab_tasks-1.10.9] startup
[10.410s] [ext: isaaclab_mimic-1.3.4] startup
[10.410s] [ext: isaaclab_newton-0.13.6] startup
[10.412s] [ext: isaaclab_physx-1.1.3] startup
[10.412s] [ext: isaaclab_rl-0.5.7] startup
[10.413s] [ext: omni.kit.menu.common-2.0.2] startup
[10.416s] [ext: isaaclab.python-3.0.0] startup
[10.417s] [ext: isaaclab_tasks_experimental-0.0.1] startup
2026-08-02T17:37:33Z [10,315ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module isaaclab_tasks.experimental. Error: No module named 'isaaclab_tasks.experimental'. Traceback:
Traceback (most recent call last):
  File "C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\custom_importer.py", line 107, in import_module
    return importlib.import_module(name)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\importlib\__init__.py", line 90, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1324, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'isaaclab_tasks.experimental'

2026-08-02T17:37:33Z [10,316ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'isaaclab_tasks.experimental' in 'c:\users\blackool\desktop\some_datafile\isaaclab\developbeta\isaaclab\source\isaaclab_tasks_experimental' failed to load.

At:
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\_internal.py(240): startup
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\_internal.py(366): startup_extension      
  PythonExtension.cpp::startup()(2): <module>
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\exts\isaacsim.simulation_app\isaacsim\simulation_app\simulation_app.py(574): _start_app
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\exts\isaacsim.simulation_app\isaacsim\simulation_app\simulation_app.py(287): __init__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab\isaaclab\app\app_launcher.py(1208): _create_app
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab\isaaclab\app\app_launcher.py(300): __init__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab_tasks\isaaclab_tasks\utils\sim_launcher.py(466): launch_simulation
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\contextlib.py(137): __enter__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\scripts\environments\random_agent.py(51): main
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\scripts\environments\random_agent.py(86): <module>

2026-08-02T17:37:33Z [10,316ms] [Error] [omni.ext.plugin] [ext: isaaclab_tasks_experimental-0.0.1] Failed to startup python extension.
[10.816s] [ext: isaaclab_teleop-0.5.2] startup
2026-08-02T17:37:33Z [10,725ms] [Error] [carb.scripting-python.plugin] ModuleNotFoundError: No module named 'isaacteleop'

At:
  c:/users/blackool/desktop/some_datafile/isaaclab/developbeta/isaaclab/source/isaaclab_teleop/isaaclab_teleop/teleop_message_processor.py(20): <module>
  <frozen importlib._bootstrap>(488): _call_with_frames_removed
  <frozen importlib._bootstrap_external>(999): exec_module
  <frozen importlib._bootstrap>(950): _load_unlocked
  <frozen importlib._bootstrap>(1334): _find_and_load_unlocked
  <frozen importlib._bootstrap>(1360): _find_and_load
  c:/users/blackool/desktop/some_datafile/isaaclab/developbeta/isaaclab/source/isaaclab_teleop/isaaclab_teleop/session_lifecycle.py(27): <module>       
  <frozen importlib._bootstrap>(488): _call_with_frames_removed
  <frozen importlib._bootstrap_external>(999): exec_module
  <frozen importlib._bootstrap>(950): _load_unlocked
  <frozen importlib._bootstrap>(1334): _find_and_load_unlocked
  <frozen importlib._bootstrap>(1360): _find_and_load
  c:/users/blackool/desktop/some_datafile/isaaclab/developbeta/isaaclab/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_device.py(20): <module>     
  <frozen importlib._bootstrap>(488): _call_with_frames_removed
  <frozen importlib._bootstrap_external>(999): exec_module
  <frozen importlib._bootstrap>(950): _load_unlocked
  <frozen importlib._bootstrap>(1334): _find_and_load_unlocked
  <frozen importlib._bootstrap>(1360): _find_and_load
  <frozen importlib._bootstrap>(1387): _gcd_import
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\importlib\__init__.py(90): import_module
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\lazy_loader\__init__.py(78): __getattr__
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\_internal.py(247): startup
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\kit\kernel\py\omni\ext\_impl\_internal.py(366): startup_extension      
  PythonExtension.cpp::startup()(2): <module>
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\exts\isaacsim.simulation_app\isaacsim\simulation_app\simulation_app.py(574): _start_app
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\isaacsim\exts\isaacsim.simulation_app\isaacsim\simulation_app\simulation_app.py(287): __init__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab\isaaclab\app\app_launcher.py(1208): _create_app
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab\isaaclab\app\app_launcher.py(300): __init__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\source\isaaclab_tasks\isaaclab_tasks\utils\sim_launcher.py(466): launch_simulation
  C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\contextlib.py(137): __enter__
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\scripts\environments\random_agent.py(51): main
  C:\Users\Blackool\Desktop\some_datafile\isaaclab\developBeta\IsaacLab\scripts\environments\random_agent.py(86): <module>

2026-08-02T17:37:33Z [10,725ms] [Error] [omni.ext.plugin] [ext: isaaclab_teleop-0.5.2] Failed to startup python extension.
[11.244s] Simulation App Starting
Warning: Possible version incompatibility. Attempting to load omni::fabric::IStageReaderWriter with version v0.16 against v0.14.
2026-08-02T17:37:39Z [17,099ms] [Warning] [rtx.hydra] RenderDelegate : Warning /rtx/hydra/readTransformsFromFabricInRenderDelegate and geometry streaming are enabled together but this can cause issues with dynamic objects not streaming correctly due to problems in the transform update.
[102.416s] Simulation App Startup Complete
[102.427s] app ready
[ISAACLAB] AppLauncher initialization complete
2026-08-02T17:39:05Z [103,077ms] [Warning] [isaaclab.envs.direct_rl_env] Seed not set for the environment. The environment creation may not be deterministic.
2026-08-02T17:39:05Z [103,122ms] [Warning] [isaaclab_physx.physics.physx_manager] TGS solver with enable_external_forces_every_iteration=False may cause noisy velocities.
[103.256s] [ext: omni.warp.core-1.13.0] startup
2026-08-02T17:39:06Z [103,171ms] [Warning] [omni.ext._impl._internal] There is already a module 'warp' in 'C:\Users\Blackool\miniconda3\envs\env_isaaclab_beta\Lib\site-packages\warp\__init__.py'. Can't import another module with the same name in public space from 'c:\users\blackool\miniconda3\envs\env_isaaclab_beta\lib\site-packages\isaacsim\extscache\omni.warp.core-1.13.0+wx64'.
[103.275s] [ext: omni.physx.fabric-110.1.11] startup
[INFO]: Base environment:
        Environment device    : cuda:0
        Environment seed      : None
        Physics step-size     : 0.008333333333333333
        Rendering step-size   : 0.016666666666666666
        Environment step-size : 0.016666666666666666
[INFO]: libcarb.so unavailable — Fabric notice suspension disabled (Linux x86_64 only)
[INFO]: Registered backend 'physx' for factory Articulation.
[INFO]: Time taken for scene creation Last: 2.503835 s, Mean: 2.503835 s, Std: 0.000000 s, N: 1
[INFO]: Scene manager:  <class InteractiveScene>
        Number of environments: 4
        Environment spacing   : 4.0
        Source prim name      : /World/envs/env_0
        Global prim paths     : []
        Replicate physics     : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
[INFO]: Simulation parameters for joints in /World/envs/env_.*/Robot:
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|                                                    Simulation Joint Information (Prim path: /World/envs/env_.*/Robot)                                 
                  |
+-------+----------------+-----------+---------+----------+-----------------+------------------+------------------+---------------------+-----------------+---------------+
| Index | Name           | Stiffness | Damping | Armature | Static Friction | Dynamic Friction | Viscous Friction |   Position Limits   | Velocity Limits | Effort Limits |
+-------+----------------+-----------+---------+----------+-----------------+------------------+------------------+---------------------+-----------------+---------------+
|   0   | slider_to_cart |   0.000   |  10.000 |  0.000   |      0.000      |      0.000       |      0.000       |   [-4.000, 4.000]   |     100.000     |    400.000    |
|   1   | cart_to_pole   |   0.000   |  0.000  |  0.000   |      0.000      |      0.000       |      0.000       | [-3.4e+38, 3.4e+38] |      8.000      |    400.000    |
+-------+----------------+-----------+---------+----------+-----------------+------------------+------------------+---------------------+-----------------+---------------+
[INFO]: Registered backend 'kit' for factory Visualizer.
[INFO]: Time taken for simulation start Last: 6.743752 s, Mean: 6.743752 s, Std: 0.000000 s, N: 1
[INFO]: Completed setting up the environment...
[INFO]: Gym observation space: Box(-inf, inf, (4, 4), float32)
[INFO]: Gym action space: Box(-inf, inf, (4, 1), float32)
[INFO]: SimulationContext cleared
[125.263s] Simulation App Shutting Down

```


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[Bug Report] GPU physics pipeline(not sure): cart joint (slider_to_cart) does not respond to effort commands in Isaac-Cartpole-Direct-v0 (works fine on CPU) #6852

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Uh oh!

[Bug Report] GPU physics pipeline(not sure): cart joint (slider_to_cart) does not respond to effort commands in Isaac-Cartpole-Direct-v0 (works fine on CPU) #6852

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