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环境配置疑问 #2

@klj2020

Description

@klj2020

同学你好,我对你的项目十分感兴趣,想运行一下无人机轨迹跟踪部分的训练代码,但在环境配置的过程中出现了问题。
我按你给的文件下载了ISAAC_SIM 2022.2.0,并且已经能正常运行。
接着我按要求文档中一步步建立相应的conda环境,按顺序下载了相应的依赖,在运行hover测试文件中出现了以下错误。
1.​gym 未安装或版本不匹配​​ → 导致 omni.isaac.ml_archive 扩展加载失败。
2.​模块加载顺序错误​​ → 导致 USD 场景和物理引擎初始化异常。
3.​USD 场景未正确初始化​​ → 引发 NoneType 和 TF_PYTHON_EXCEPTION 错误。

我尝试过安装gym插件,但最终都由于版本问题导致conda环境崩溃,并且ISaac_SIM不能正常启动,如果可以,希望你能帮忙解决一下以下问题,万分感谢。

错误报告如下
2025-04-24 06:13:46 [919ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module gym. Error: No module named 'gym'. Traceback:
Traceback (most recent call last):
File "/media/klj/isaac_disk/isaac_sim-2022.2.0/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
return importlib.import_module(name)
File "/home/klj/anaconda3/envs/sim/lib/python3.7/importlib/init.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "", line 1006, in _gcd_import
File "", line 983, in _find_and_load
File "", line 965, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'gym'

2025-04-24 06:13:46 [919ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'gym' in '/media/klj/isaac_disk/isaac_sim-2022.2.0/exts/omni.isaac.ml_archive/pip_prebundle' failed to load.

At:
/media/klj/isaac_disk/isaac_sim-2022.2.0/kit/kernel/py/omni/ext/_impl/_internal.py(188): startup
/media/klj/isaac_disk/isaac_sim-2022.2.0/kit/kernel/py/omni/ext/_impl/_internal.py(280): startup_extension
PythonExtension.cpp::startup()(2):
/media/klj/isaac_disk/isaac_sim-2022.2.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(284): _start_app
/media/klj/isaac_disk/isaac_sim-2022.2.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(169): init
/home/klj/下载/SimpleFlight-main/omni_drones/init.py(42): init_simulation_app
train.py(94): main
/home/klj/anaconda3/envs/sim/lib/python3.7/site-packages/hydra/core/utils.py(186): run_job
/home/klj/anaconda3/envs/sim/lib/python3.7/site-packages/hydra/_internal/hydra.py(127): run
/home/klj/anaconda3/envs/sim/lib/python3.7/site-packages/hydra/_internal/utils.py(461):
/home/klj/anaconda3/envs/sim/lib/python3.7/site-packages/hydra/_internal/utils.py(220): run_and_report
/home/klj/anaconda3/envs/sim/lib/python3.7/site-packages/hydra/_internal/utils.py(458): _run_app
/home/klj/anaconda3/envs/sim/lib/python3.7/site-packages/hydra/_internal/utils.py(401): _run_hydra
/home/klj/anaconda3/envs/sim/lib/python3.7/site-packages/hydra/main.py(99): decorated_main
train.py(339):

2025-04-24 06:13:46 [919ms] [Error] [omni.ext.plugin] [ext: omni.isaac.ml_archive-1.1.0] Failed to startup python extension.
Error executing job with overrides: ['headless=true', 'wandb.mode=disabled', 'total_frames=50000', 'task=Hover']
Traceback (most recent call last):
File "train.py", line 116, in main
base_env = env_class(cfg, headless=cfg.headless)
File "/home/klj/下载/SimpleFlight-main/omni_drones/envs/single/hover.py", line 90, in init
super().init(cfg, headless)
File "/home/klj/下载/SimpleFlight-main/omni_drones/envs/isaac_env.py", line 105, in init
global_prim_paths = self._design_scene()
File "/home/klj/下载/SimpleFlight-main/omni_drones/envs/single/hover.py", line 212, in _design_scene
restitution=0.0,
File "/home/klj/下载/SimpleFlight-main/omni_drones/utils/kit.py", line 88, in create_ground_plane
prim_path, predicate=lambda x: prim_utils.get_prim_type_name(x) == "Plane"
File "/media/klj/isaac_disk/isaac_sim-2022.2.0/exts/omni.isaac.core/omni/isaac/core/utils/prims.py", line 304, in get_prim_path
return prim.GetPath().pathString
AttributeError: 'NoneType' object has no attribute 'GetPath'

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
Exception ignored in: <function _make_registry.._Registry.del at 0x7fbc7bc97710>
Traceback (most recent call last):
File "/media/klj/isaac_disk/isaac_sim-2022.2.0/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in del
File "/media/klj/isaac_disk/isaac_sim-2022.2.0/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
TypeError: 'NoneType' object is not callable
Exception ignored in: <function _make_registry.._Registry.del at 0x7fbc7bc97710>
Traceback (most recent call last):
File "/media/klj/isaac_disk/isaac_sim-2022.2.0/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in del
File "/media/klj/isaac_disk/isaac_sim-2022.2.0/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
TypeError: 'NoneType' object is not callable
Exception ignored in: <function SettingChangeSubscription.del at 0x7fbec72a5560>
Traceback (most recent call last):
File "/media/klj/isaac_disk/isaac_sim-2022.2.0/kit/kernel/py/omni/kit/app/_impl/init.py", line 114, in del
AttributeError: 'NoneType' object has no attribute 'get_settings'
Exception ignored in: <function RegisteredActions.del at 0x7fb03255b170>
Traceback (most recent call last):
File "/media/klj/isaac_disk/isaac_sim-2022.2.0/extscache/omni.kit.viewport.menubar.lighting-104.0.8/omni/kit/viewport/menubar/lighting/actions.py", line 345, in del
File "/media/klj/isaac_disk/isaac_sim-2022.2.0/extscache/omni.kit.viewport.menubar.lighting-104.0.8/omni/kit/viewport/menubar/lighting/actions.py", line 350, in destroy
TypeError: 'NoneType' object is not callable
2025-04-24 06:13:54 [9,281ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,281ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,281ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,281ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,281ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,281ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,281ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,282ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,283ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,283ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,283ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

2025-04-24 06:13:54 [9,283ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception

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