diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
index e27053f1362..7519dea2b44 100644
--- a/source/isaaclab/isaaclab/sim/simulation_context.py
+++ b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -27,7 +27,7 @@
 from isaacsim.core.api.simulation_context import SimulationContext as _SimulationContext
 from isaacsim.core.simulation_manager import SimulationManager
 from isaacsim.core.utils.viewports import set_camera_view
-from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics
+from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics, UsdUtils
 
 import isaaclab.sim as sim_utils
 from isaaclab.utils.logger import configure_logging
@@ -146,6 +146,11 @@ def __init__(self, cfg: SimulationCfg | None = None):
             self._initial_stage = sim_utils.create_new_stage_in_memory()
         else:
             self._initial_stage = omni.usd.get_context().get_stage()
+        # cache stage if it is not already cached
+        stage_cache = UsdUtils.StageCache.Get()
+        stage_id = stage_cache.GetId(self._initial_stage).ToLongInt()
+        if stage_id < 0:
+            stage_cache.Insert(self._initial_stage)
 
         # acquire settings interface
         self.carb_settings = carb.settings.get_settings()
diff --git a/source/isaaclab/isaaclab/sim/utils/prims.py b/source/isaaclab/isaaclab/sim/utils/prims.py
index 432bc17e131..9dd8e474dce 100644
--- a/source/isaaclab/isaaclab/sim/utils/prims.py
+++ b/source/isaaclab/isaaclab/sim/utils/prims.py
@@ -206,6 +206,8 @@ def delete_prim(prim_path: str | Sequence[str], stage: Usd.Stage | None = None)
         prim_path = [prim_path]
     # get stage handle
     stage = get_current_stage() if stage is None else stage
+    # FIXME: We should not need to cache the stage here. It should
+    # happen at the creation of the stage.
     # the prim command looks for the stage ID in the stage cache
     # so we need to ensure the stage is cached
     stage_cache = UsdUtils.StageCache.Get()
diff --git a/source/isaaclab/test/sim/test_simulation_stage_in_memory.py b/source/isaaclab/test/sim/test_simulation_stage_in_memory.py
index 3cf15126621..68d9d86c666 100644
--- a/source/isaaclab/test/sim/test_simulation_stage_in_memory.py
+++ b/source/isaaclab/test/sim/test_simulation_stage_in_memory.py
@@ -71,12 +71,35 @@ def test_stage_in_memory_with_shapes(sim):
                 sim_utils.ConeCfg(
                     radius=0.3,
                     height=0.6,
+                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
+                    physics_material=sim_utils.RigidBodyMaterialCfg(
+                        friction_combine_mode="multiply",
+                        restitution_combine_mode="multiply",
+                        static_friction=1.0,
+                        dynamic_friction=1.0,
+                    ),
                 ),
-                sim_utils.CuboidCfg(
+                sim_utils.MeshCuboidCfg(
                     size=(0.3, 0.3, 0.3),
+                    visual_material=sim_utils.MdlFileCfg(
+                        mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl",
+                        project_uvw=True,
+                        texture_scale=(0.25, 0.25),
+                    ),
                 ),
                 sim_utils.SphereCfg(
                     radius=0.3,
+                    visual_material=sim_utils.MdlFileCfg(
+                        mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl",
+                        project_uvw=True,
+                        texture_scale=(0.25, 0.25),
+                    ),
+                    physics_material=sim_utils.RigidBodyMaterialCfg(
+                        friction_combine_mode="multiply",
+                        restitution_combine_mode="multiply",
+                        static_friction=1.0,
+                        dynamic_friction=1.0,
+                    ),
                 ),
             ],
             random_choice=True,