环境配置疑问

[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

[jiayu-ch15]

Thanks for your attention!

1. In principle our project doesn't need to have the gym module installed. I'm also a bit confused about the problem you're experiencing.

2. For AttributeError: ‘NoneType’ object has no attribute ‘GetPath’. You can pull the latest version of our code and set use_local_usd in train.yaml to True to use the relevant usd files offline.

[klj2020]

Thank you for your reply.The above issue has been resolved.

The training is now running normally, as shown in the image, and the performance is gradually improving based on the charts. However, during evaluation, the drone fails to track the trajectory.Even with your training results, we still cannot achieve satisfactory tracking performance.

Because of my computer's hardware constraints, I had to adjust ​​num_envs​​ and ​​max_episode_length​​.I experimented with two different configurations:1:​num_envs = 8192​​, ​​max_episode_length = 150​​ 2.num_envs = 2048​​, ​​max_episode_length = 1000​​.
Both configurations resulted in poor tracking performance.

No other parameters were modified

[jiayu-ch15]

Please set use_eval = 1 in the Track.yaml and run python eval.py again!
And you can set eval_traj = fast or other types for different trajectories. I check the performance of deploy.pt in the Figure-eight(fast) and Zigzag, the results are align with those reported in our paper.

[klj2020]

Thanks for your reply，the problem has been solved.And the policy trained in
my own can also do well in tracking.

[bertum-bo]

I meet the same trouble as you. My solution is "pip install gym" ,and "pip install botocore ==1.20.49". I guess the reason is the conflict among "botocore, boto3 and aiobotocore " ,so you have to make sure that these modules are installed and the versions between them are compatible.