我正在使用2023.1.1版本的sim，下载了omniisaacgymenvs库，并进行了环境配置，第一次配置时报了如图一的错，在论坛中看到可能是网络问题，于是再尝试了一次pip install -e，这次没有再报错，如图2所示。
然后我在运行task=Cartpole例程时一切正常，但是运行frankacabinet时就报了错，如下所示，运行factorytasknutboltpick时也报了同样的错，看起来似乎是资产的问题？但是我在standalone example中运行franka的例程时是没有问题的，有人遇到过这个问题吗，请帮帮我，非常感谢！
Setting seed: 42
Sim params does not have attribute: physx
Sim params does not have attribute: franka
Sim params does not have attribute: cabinet
Sim params does not have attribute: prop
Pipeline: GPU
Pipeline Device: cuda:0
Sim Device: GPU
Task Device: cuda:0
RL device: cuda:0
2024-06-15 08:11:53 [86,941ms] [Warning] [omni.client.plugin] Tick: provider_nucleus: Auth: Failed to create transport: Transport constructor is not found by description
2024-06-15 08:18:46 [500,096ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/franka>: Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Robots/Franka/franka_instanceable.usd@ for reference introduced by @anon:0x1c8e2450:World1.usd@</World/envs/env_0/franka>. (recomposing stage on stage @anon:0x1c8e2450:World1.usd@ <0x1af12860>)
2024-06-15 08:18:47 [501,221ms] [Error] [omni.kit.app._impl] [py stderr]: Error executing job with overrides: ['task=FrankaCabinet']
Error executing job with overrides: ['task=FrankaCabinet']
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):
Traceback (most recent call last):
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/scripts/rlgames_train.py", line 145, in parse_hydra_configs
task = initialize_task(cfg_dict, env)
File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/scripts/rlgames_train.py", line 145, in parse_hydra_configs
task = initialize_task(cfg_dict, env)
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/utils/task_util.py", line 105, in initialize_task
env.set_task(
File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/utils/task_util.py", line 105, in initialize_task
env.set_task(
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/envs/vec_env_rlgames.py", line 47, in set_task
super().set_task(task, backend, sim_params, init_sim, rendering_dt)
File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/envs/vec_env_rlgames.py", line 47, in set_task
super().set_task(task, backend, sim_params, init_sim, rendering_dt)
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.gym/omni/isaac/gym/vec_env/vec_env_base.py", line 129, in set_task
self._world.reset()
File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.gym/omni/isaac/gym/vec_env/vec_env_base.py", line 129, in set_task
self._world.reset()
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 401, in reset
task.set_up_scene(self.scene)
File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 401, in reset
task.set_up_scene(self.scene)
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/franka_cabinet.py", line 67, in set_up_scene
self.get_franka()
File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/franka_cabinet.py", line 67, in set_up_scene
self.get_franka()
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/franka_cabinet.py", line 128, in get_franka
franka = Franka(prim_path=self.default_zero_env_path + "/franka", name="franka")
File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/franka_cabinet.py", line 128, in get_franka
franka = Franka(prim_path=self.default_zero_env_path + "/franka", name="franka")
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/robots/articulations/franka.py", line 76, in __init__
set_drive(
File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/robots/articulations/franka.py", line 76, in __init__
set_drive(
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/utils/usd_utils.py", line 79, in set_drive
drive = set_drive_type(prim_path, drive_type)
File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/utils/usd_utils.py", line 79, in set_drive
drive = set_drive_type(prim_path, drive_type)
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/utils/usd_utils.py", line 39, in set_drive_type
drive = UsdPhysics.DriveAPI.Apply(joint_prim, drive_type)
File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/utils/usd_utils.py", line 39, in set_drive_type
drive = UsdPhysics.DriveAPI.Apply(joint_prim, drive_type)
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: pxr.Tf.ErrorException:
Error in 'pxrInternal_v0_22__pxrReserved__::UsdPrim::_ApplyAPI' at line 450 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/prim.cpp : 'Invalid prim 'null prim''
pxr.Tf.ErrorException:
Error in 'pxrInternal_v0_22__pxrReserved__::UsdPrim::_ApplyAPI' at line 450 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/prim.cpp : 'Invalid prim 'null prim''
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:
Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
2024-06-15 08:18:47 [501,467ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-06-15 08:18:47 [501,484ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2024-06-15 08:18:47 [501,484ms] [Warning] [carb.audio.context] 1 contexts were leaked
2024-06-15 08:18:47 [501,502ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2024-06-15 08:18:47 [501,508ms] [Warning] [omni.core.ITypeFactory] Module /home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.
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