[Bug Report] [omni.usd] Warning (secondary thread): in Orthonormalize at line 494 of /builds/omniverse/usd-ci/USD/pxr/base/gf/matrix4d.cpp -- OrthogonalizeBasis did not converge, matrix may not be orthonormal.

[shahizat]

Hello,

When I start training using SKRL with the PPO method, the process begins normally. However, after a while, the following warnings appear, and the camera views in the environment turn into a black screen, and robots disappears from the env.

python train.py --num_envs 100 --enable_cameras

`2025-09-30T09:29:59Z [281,122ms] [Warning] [omni.usd] Warning (secondary thread): in Orthonormalize at line 494 of /builds/omniverse/usd-ci/USD/pxr/base/gf/matrix4d.cpp -- OrthogonalizeBasis did not converge, matrix may not be orthonormal.

2025-09-30T09:29:59Z [281,122ms] [Warning] [omni.usd] Warning (secondary thread): in Orthonormalize at line 494 of /builds/omniverse/usd-ci/USD/pxr/base/gf/matrix4d.cpp -- OrthogonalizeBasis did not converge, matrix may not be orthonormal.

2025-09-30T09:29:59Z [281,122ms] [Warning] [omni.usd] Warning (secondary thread): in Orthonormalize at line 494 of /builds/omniverse/usd-ci/USD/pxr/base/gf/matrix4d.cpp -- OrthogonalizeBasis did not converge, matrix may not be orthonormal.

2025-09-30T09:29:59Z [281,122ms] [Warning] [omni.usd] Warning (secondary thread): in Orthonormalize at line 494 of /builds/omniverse/usd-ci/USD/pxr/base/gf/matrix4d.cpp -- OrthogonalizeBasis did not converge, matrix may not be orthonormal.

2025-09-30T09:29:59Z [281,122ms] [Warning] [omni.usd] Warning (secondary thread): in Orthonormalize at line 494 of /builds/omniverse/usd-ci/USD/pxr/base/gf/matrix4d.cpp -- OrthogonalizeBasis did not converge, matrix may not be orthonormal.
`

System Info

• Isaac Sim Version: 5.0
• OS: 22.04
• GPU: 5090
• CUDA: 12.8
• GPU Driver: 570.172.08

[RandomOakForest]

Thank you for posting this. The team will review it. Would it be possible for you to share files and clear steps to reproduce?