diff --git a/source/extensions/omni.isaac.orbit/config/extension.toml b/source/extensions/omni.isaac.orbit/config/extension.toml
index d9bda58b0e..4b1cb25295 100644
--- a/source/extensions/omni.isaac.orbit/config/extension.toml
+++ b/source/extensions/omni.isaac.orbit/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.49"
+version = "0.9.50"
 
 # Description
 title = "ORBIT framework for Robot Learning"
diff --git a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
index a835d4f76d..5712bffd6e 100644
--- a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
@@ -1,6 +1,23 @@
 Changelog
 ---------
 
+0.9.50 (2023-11-28)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Hid the ``STOP`` button in the UI when running standalone Python scripts. This is to prevent
+  users from accidentally clicking the button and stopping the simulation. They should only be able to
+  play and pause the simulation from the UI.
+
+Removed
+^^^^^^^
+
+* Removed :attr:`omni.isaac.orbit.sim.SimulationCfg.shutdown_app_on_stop`. The simulation is always rendering
+  if it is stopped from the UI. The user needs to close the window or press ``Ctrl+C`` to close the simulation.
+
+
 0.9.49 (2023-11-27)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py
index 8b6d766451..622ab7d384 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py
@@ -561,6 +561,8 @@ def _create_app(self):
         # add orbit modules back to sys.modules
         for key, value in hacked_modules.items():
             sys.modules[key] = value
+        # hide the stop button in the toolbar
+        self._hide_stop_button()
 
     def _load_extensions(self):
         """Load correct extensions based on AppLauncher's resolved config member variables."""
@@ -644,3 +646,15 @@ def _load_extensions(self):
                 "/persistent/isaac/asset_root/nvidia",
                 "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets",
             )
+
+    def _hide_stop_button(self):
+        """Hide the stop button in the toolbar."""
+        import omni.kit.widget.toolbar
+
+        # grey out the stop button because we don't want to stop the simulation manually in standalone mode
+        toolbar = omni.kit.widget.toolbar.get_instance()
+        play_button_group = toolbar._builtin_tools._play_button_group  # type: ignore
+        if play_button_group is not None:
+            play_button_group._stop_button.visible = False  # type: ignore
+            play_button_group._stop_button.enabled = False  # type: ignore
+            play_button_group._stop_button = None  # type: ignore
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_cfg.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_cfg.py
index fb5efc468c..9bfd8bd7a8 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_cfg.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_cfg.py
@@ -256,13 +256,3 @@ class SimulationCfg:
 
     The material is created at the path: ``{physics_prim_path}/defaultMaterial``.
     """
-
-    shutdown_app_on_stop: bool = True
-    """Enable/disable shutting down the application when the simulation is stopped. Default is True.
-
-    This flag is only used when running the simulation as a standalone application.
-
-    .. note::
-        When the simulation is stopped, the physics handles become invalidated. Thus, in the simplest case,
-        it is better to shutdown the application.
-    """
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py
index 18f667b916..0795adefac 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py
@@ -193,6 +193,17 @@ def __init__(self, cfg: SimulationCfg | None = None):
         # note: we do it once here because it reads the VERSION file from disk and is not expected to change.
         self._isaacsim_version = get_version()
 
+        # add callback to deal the simulation app when simulation is stopped.
+        # this is needed because physics views go invalid once we stop the simulation
+        if not builtins.ISAAC_LAUNCHED_FROM_TERMINAL:
+            timeline_event_stream = omni.timeline.get_timeline_interface().get_timeline_event_stream()
+            self._app_control_on_stop_handle = timeline_event_stream.create_subscription_to_pop_by_type(
+                int(omni.timeline.TimelineEventType.STOP),
+                lambda *args, obj=weakref.proxy(self): obj._app_control_on_stop_callback(*args),
+                order=10,
+            )
+        else:
+            self._app_control_on_stop_handle = None
         # flatten out the simulation dictionary
         sim_params = self.cfg.to_dict()
         if sim_params is not None:
@@ -336,22 +347,6 @@ def get_setting(self, name: str) -> Any:
     Operations - Override (standalone)
     """
 
-    def reset(self, soft: bool = False):
-        # need to load all "physics" information from the USD file
-        # FIXME: Remove this for Isaac Sim 2023.1 release if it will be fixed in the core.
-        if not soft:
-            omni.physx.acquire_physx_interface().force_load_physics_from_usd()
-        # play the simulation
-        super().reset(soft=soft)
-        # add callback to shutdown the simulation when it is stopped.
-        # we do this because physics views go invalid once we stop the simulation. So there is
-        # no point in keeping the simulation running.
-        if self.cfg.shutdown_app_on_stop and not self.timeline_callback_exists("shutdown_app_on_stop"):
-            self.add_timeline_callback(
-                "shutdown_app_on_stop",
-                lambda *args, obj=weakref.proxy(self): obj._shutdown_app_on_stop_callback(*args),
-            )
-
     def step(self, render: bool = True):
         """Steps the physics simulation with the pre-defined time-step.
 
@@ -431,7 +426,7 @@ async def reset_async(self, soft: bool = False):
         await super().reset_async(soft=soft)
 
     """
-    Initialization - Override.
+    Initialization/Destruction - Override.
     """
 
     def _init_stage(self, *args, **kwargs) -> Usd.Stage:
@@ -452,6 +447,16 @@ async def _initialize_stage_async(self, *args, **kwargs) -> Usd.Stage:
         # return the stage
         return self.stage
 
+    @classmethod
+    def clear_instance(cls):
+        # clear the callback
+        if cls._instance is not None:
+            if cls._instance._app_control_on_stop_handle is not None:
+                cls._instance._app_control_on_stop_handle.unsubscribe()
+                cls._instance._app_control_on_stop_handle = None
+        # call parent to clear the instance
+        super().clear_instance()
+
     """
     Helper Functions
     """
@@ -526,15 +531,32 @@ def _load_fabric_interface(self):
     Callbacks.
     """
 
-    def _shutdown_app_on_stop_callback(self, event: carb.events.IEvent):
-        """Callback to shutdown the app when the simulation is stopped.
+    def _app_control_on_stop_callback(self, event: carb.events.IEvent):
+        """Callback to deal with the app when the simulation is stopped.
+
+        Once the simulation is stopped, the physics handles go invalid. After that, it is not possible to
+        resume the simulation from the last state. This leaves the app in an inconsistent state, where
+        two possible actions can be taken:
+
+        1. **Keep the app rendering**: In this case, the simulation is kept running and the app is not shutdown.
+           However, the physics is not updated and the script cannot be resumed from the last state. The
+           user has to manually close the app to stop the simulation.
+        2. **Shutdown the app**: This is the default behavior. In this case, the app is shutdown and
+           the simulation is stopped.
 
-        This is used only when running the simulation in a standalone python script. This is because
-        the physics views go invalid once we stop the simulation. So there is no point in keeping the
-        simulation running.
+        Note:
+            This callback is used only when running the simulation in a standalone python script. In an extension,
+            it is expected that the user handles the extension shutdown.
         """
         # check if the simulation is stopped
         if event.type == int(omni.timeline.TimelineEventType.STOP):
+            # keep running the simulator when configured to not shutdown the app
+            self.app.print_and_log(
+                "Simulation is stopped. The app will keep running with physics disabled."
+                " Press Ctrl+C or close the window to exit the app."
+            )
+            while self.app.is_running():
+                self.render()
             # make sure that any replicator workflows finish rendering/writing
             if not builtins.ISAAC_LAUNCHED_FROM_TERMINAL:
                 try:
@@ -559,5 +581,3 @@ def _shutdown_app_on_stop_callback(self, event: carb.events.IEvent):
             self.app.shutdown()
             # disabled on linux to avoid a crash
             carb.get_framework().unload_all_plugins()
-            # exit the application
-            print("Exiting the application complete.")
diff --git a/source/extensions/omni.isaac.orbit/test/assets/test_articulation.py b/source/extensions/omni.isaac.orbit/test/assets/test_articulation.py
index fbecf16ed1..02e894dda2 100644
--- a/source/extensions/omni.isaac.orbit/test/assets/test_articulation.py
+++ b/source/extensions/omni.isaac.orbit/test/assets/test_articulation.py
@@ -43,7 +43,7 @@ def setUp(self):
         # Simulation time-step
         self.dt = 0.005
         # Load kit helper
-        sim_cfg = sim_utils.SimulationCfg(dt=self.dt, device="cuda:0", shutdown_app_on_stop=False)
+        sim_cfg = sim_utils.SimulationCfg(dt=self.dt, device="cuda:0")
         self.sim = sim_utils.SimulationContext(sim_cfg)
 
     def tearDown(self):
diff --git a/source/extensions/omni.isaac.orbit/test/assets/test_rigid_object.py b/source/extensions/omni.isaac.orbit/test/assets/test_rigid_object.py
index e72e47c754..92725d7e4f 100644
--- a/source/extensions/omni.isaac.orbit/test/assets/test_rigid_object.py
+++ b/source/extensions/omni.isaac.orbit/test/assets/test_rigid_object.py
@@ -42,7 +42,7 @@ def setUp(self):
         # Simulation time-step
         self.dt = 0.01
         # Load kit helper
-        sim_cfg = sim_utils.SimulationCfg(dt=self.dt, device="cuda:0", shutdown_app_on_stop=False)
+        sim_cfg = sim_utils.SimulationCfg(dt=self.dt, device="cuda:0")
         self.sim = sim_utils.SimulationContext(sim_cfg)
 
     def tearDown(self):
diff --git a/source/extensions/omni.isaac.orbit/test/controllers/test_differential_ik.py b/source/extensions/omni.isaac.orbit/test/controllers/test_differential_ik.py
index 543bdbb72b..f845277e17 100644
--- a/source/extensions/omni.isaac.orbit/test/controllers/test_differential_ik.py
+++ b/source/extensions/omni.isaac.orbit/test/controllers/test_differential_ik.py
@@ -40,7 +40,7 @@ def setUp(self):
         # Constants
         self.num_envs = 128
         # Load kit helper
-        sim_cfg = sim_utils.SimulationCfg(dt=0.01, shutdown_app_on_stop=False)
+        sim_cfg = sim_utils.SimulationCfg(dt=0.01)
         self.sim = sim_utils.SimulationContext(sim_cfg)
 
         # Create a ground plane
diff --git a/source/extensions/omni.isaac.orbit_tasks/test/test_environments.py b/source/extensions/omni.isaac.orbit_tasks/test/test_environments.py
index 488d9ef66c..8131ebac2d 100644
--- a/source/extensions/omni.isaac.orbit_tasks/test/test_environments.py
+++ b/source/extensions/omni.isaac.orbit_tasks/test/test_environments.py
@@ -62,8 +62,6 @@ def test_random_actions(self):
             omni.usd.get_context().new_stage()
             # parse configuration
             env_cfg: RLTaskEnvCfg = parse_env_cfg(task_name, use_gpu=self.use_gpu, num_envs=self.num_envs)
-            # note: we don't want to shutdown the app on stop during the tests since we reload the stage
-            env_cfg.sim.shutdown_app_on_stop = False
 
             # create environment
             env: RLTaskEnv = gym.make(task_name, cfg=env_cfg)
diff --git a/source/extensions/omni.isaac.orbit_tasks/test/test_record_video.py b/source/extensions/omni.isaac.orbit_tasks/test/test_record_video.py
index 02cd2c3d71..890b9e0c43 100644
--- a/source/extensions/omni.isaac.orbit_tasks/test/test_record_video.py
+++ b/source/extensions/omni.isaac.orbit_tasks/test/test_record_video.py
@@ -69,8 +69,6 @@ def test_record_video(self):
 
             # parse configuration
             env_cfg: RLTaskEnvCfg = parse_env_cfg(task_name, use_gpu=self.use_gpu, num_envs=self.num_envs)
-            # note: we don't want to shutdown the app on stop during the tests since we reload the stage
-            env_cfg.sim.shutdown_app_on_stop = False
 
             # create environment
             env: RLTaskEnv = gym.make(task_name, cfg=env_cfg, render_mode="rgb_array")
diff --git a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rl_games_wrapper.py b/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rl_games_wrapper.py
index 69bbd6cdf6..a776888c07 100644
--- a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rl_games_wrapper.py
+++ b/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rl_games_wrapper.py
@@ -65,8 +65,6 @@ def test_random_actions(self):
             omni.usd.get_context().new_stage()
             # parse configuration
             env_cfg: RLTaskEnvCfg = parse_env_cfg(task_name, use_gpu=self.use_gpu, num_envs=self.num_envs)
-            # note: we don't want to shutdown the app on stop during the tests since we reload the stage
-            env_cfg.sim.shutdown_app_on_stop = False
 
             # create environment
             env = gym.make(task_name, cfg=env_cfg)
diff --git a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rsl_rl_wrapper.py b/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rsl_rl_wrapper.py
index b9cfdce105..80bba1fa7c 100644
--- a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rsl_rl_wrapper.py
+++ b/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rsl_rl_wrapper.py
@@ -65,8 +65,6 @@ def test_random_actions(self):
             omni.usd.get_context().new_stage()
             # parse configuration
             env_cfg: RLTaskEnvCfg = parse_env_cfg(task_name, use_gpu=self.use_gpu, num_envs=self.num_envs)
-            # note: we don't want to shutdown the app on stop during the tests since we reload the stage
-            env_cfg.sim.shutdown_app_on_stop = False
 
             # create environment
             env = gym.make(task_name, cfg=env_cfg)
diff --git a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_sb3_wrapper.py b/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_sb3_wrapper.py
index 693b2e4998..7488a5001b 100644
--- a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_sb3_wrapper.py
+++ b/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_sb3_wrapper.py
@@ -66,8 +66,6 @@ def test_random_actions(self):
             omni.usd.get_context().new_stage()
             # parse configuration
             env_cfg: RLTaskEnvCfg = parse_env_cfg(task_name, use_gpu=self.use_gpu, num_envs=self.num_envs)
-            # note: we don't want to shutdown the app on stop during the tests since we reload the stage
-            env_cfg.sim.shutdown_app_on_stop = False
 
             # create environment
             env = gym.make(task_name, cfg=env_cfg)
diff --git a/source/standalone/demo/play_ik_control.py b/source/standalone/demo/play_ik_control.py
index 9c88dc13f8..1e8c19fa51 100644
--- a/source/standalone/demo/play_ik_control.py
+++ b/source/standalone/demo/play_ik_control.py
@@ -54,7 +54,7 @@ def main():
     """Main function."""
 
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, shutdown_app_on_stop=False)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])