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硬件环境
Xeon(R) E-2278G RTX3090双显卡
软件版本
Isaac Sim 4.5
系统环境
Ubuntu 22.04
问题描述
运行 scripts/tutorials/01_assets/add_new_robot.py 软件闪退
错误日志
2025-04-27 05:46:58 [255,347ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp – In </World/envs/env_0/Dofbot>: Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Robots/Dofbot/dofbot.usd@ for reference introduced by @anon:0x2a8fc0c0:World0.usd@</World/envs/env_0/Dofbot>. (recomposing stage on stage @anon:0x2a8fc0c0:World0.usd@ <0x174d61b0>)
2025-04-27 05:46:58 [255,440ms] [Warning] [isaaclab.sim.utils] Could not perform ‘modify_rigid_body_properties’ on any prims under: ‘/World/envs/env_0/Dofbot’. This might be because of the following reasons:
(1) The desired attribute does not exist on any of the prims.
(2) The desired attribute exists on an instanced prim.
Discovered list of instanced prim paths:
2025-04-27 05:46:58 [255,441ms] [Warning] [isaaclab.sim.utils] Could not perform ‘modify_articulation_root_properties’ on any prims under: ‘/World/envs/env_0/Dofbot’. This might be because of the following reasons:
(1) The desired attribute does not exist on any of the prims.
(2) The desired attribute exists on an instanced prim.
Discovered list of instanced prim paths:
2025-04-27 05:47:00 [256,768ms] [Warning] [omni.physx.plugin] PhysicsUSD: PhysxMaterialAPI at prim /World/envs/env_0/Jetbot/caster_material has attribute “improvePatchFriction” set to false. This setting is deprecated and support will end soon.
2025-04-27 05:47:00 [256,834ms] [Warning] [omni.physx.plugin] PhysX warning: PxMaterial::setFlag(): the friction behavior with the flag PxMaterialFlag::eIMPROVED_PATCH_FRICTION cleared is deprecated and support will end soon., FILE /builds/omniverse/physics/physx/source/physx/src/NpMaterial.cpp, LINE 186
2025-04-27 05:47:00 [256,852ms] [Warning] [omni.physx.plugin] Detected an articulation at /World/envs/env_0/Jetbot with more than 4 velocity iterations being added to a TGS scene.The related behavior changed recently, please consult the changelog. This warning will only print once.
Traceback (most recent call last):
File “/home/xcmg/lab/source/isaaclab/isaaclab/assets/asset_base.py”, line 95, in
lambda event, obj=weakref.proxy(self): obj._initialize_callback(event),
File “/home/xcmg/lab/source/isaaclab/isaaclab/assets/asset_base.py”, line 262, in _initialize_callback
self._initialize_impl()
File “/home/xcmg/lab/source/isaaclab/isaaclab/assets/articulation/articulation.py”, line 1161, in initialize_impl
raise RuntimeError(
RuntimeError: Failed to find an articulation when resolving '/World/envs/env.*/Dofbot’. Please ensure that the prim has ‘USD ArticulationRootAPI’ applied.
[INFO]: Setup complete…
Traceback (most recent call last):
File “/home/xcmg/lab/scripts/tutorials/01_assets/add_new_robot.py”, line 179, in
main()
File “/home/xcmg/lab/scripts/tutorials/01_assets/add_new_robot.py”, line 175, in main
run_simulator(sim, scene)
File “/home/xcmg/lab/scripts/tutorials/01_assets/add_new_robot.py”, line 114, in run_simulator
root_dofbot_state = scene[“Dofbot”].data.default_root_state.clone()
File “/home/xcmg/lab/source/isaaclab/isaaclab/assets/articulation/articulation.py”, line 108, in data
return self._data
AttributeError: ‘Articulation’ object has no attribute ‘_data’. Did you mean: ‘data’?
2025-04-27 05:47:04 [261,202ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2025-04-27 05:47:04 [261,203ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Core’ for removal
2025-04-27 05:47:04 [261,205ms] [Warning] [omni.graph.core.plugin] Could not find category ‘animation’ for removal
2025-04-27 05:47:04 [261,318ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
2025-04-27 05:47:04 [261,319ms] [Warning] [carb.audio.context] 1 contexts were leaked
2025-04-27 05:47:04 [261,383ms] [Warning] [carb] Recursive unloadAllPlugins() detected!