When I run env.reset() now and then, I get this error ValueError: high - low < 0; it is hard to reproduce this error. It occurs somewhat randomly. I have no idea why this is occurring. In particular, it seems to occur when calling self.init_robot_pose when calling env.reset()`. This also occurs when setting a random seed. I'm testing with the scratch-itch environment. Any help would be much appreciated.
Edit: This error does not occur in Feeding environments have yet to test other so it might be isolated to scratch itch.
Full error:
ValueError Traceback (most recent call last)
[/var/folders/_l/435lwsyd56n753cy_66n91xh0000gn/T/ipykernel_9937/1077114707.py](https://file+.vscode-resource.vscode-cdn.net/var/folders/_l/435lwsyd56n753cy_66n91xh0000gn/T/ipykernel_9937/1077114707.py) in <module>
21
22 # TRY NOT TO MODIFY: execute the game and log data.
---> 23 next_obs, reward, terminations, infos = envs.step(action.cpu().numpy())
24 # print(terminations)
25 # print(f"next_obs: {next_obs} \n dtype: {next_obs.dtype}")
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/vector/vector_env.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/vector/vector_env.py) in step(self, actions)
110
111 self.step_async(actions)
--> 112 return self.step_wait()
113
114 def call_async(self, name, *args, **kwargs):
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/vector/sync_vector_env.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/vector/sync_vector_env.py) in step_wait(self)
139 if self._dones[i]:
140 info["terminal_observation"] = observation
--> 141 observation = env.reset()
142 observations.append(observation)
143 infos.append(info)
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py) in reset(self, **kwargs)
322 class RewardWrapper(Wrapper):
323 def reset(self, **kwargs):
--> 324 return self.env.reset(**kwargs)
325
326 def step(self, action):
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py) in reset(self, **kwargs)
281
282 def reset(self, **kwargs) -> Union[ObsType, tuple[ObsType, dict]]:
--> 283 return self.env.reset(**kwargs)
284
285 def render(self, mode="human", **kwargs):
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py) in reset(self, **kwargs)
309 return self.observation(obs), info
310 else:
--> 311 return self.observation(self.env.reset(**kwargs))
312
313 def step(self, action):
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/wrappers/normalize.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/wrappers/normalize.py) in reset(self, **kwargs)
69 obs, info = self.env.reset(**kwargs)
70 else:
---> 71 obs = self.env.reset(**kwargs)
72 if self.is_vector_env:
73 obs = self.normalize(obs)
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py) in reset(self, **kwargs)
335 class ActionWrapper(Wrapper):
336 def reset(self, **kwargs):
--> 337 return self.env.reset(**kwargs)
338
339 def step(self, action):
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/wrappers/record_episode_statistics.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/wrappers/record_episode_statistics.py) in reset(self, **kwargs)
20
21 def reset(self, **kwargs):
---> 22 observations = super().reset(**kwargs)
23 self.episode_returns = np.zeros(self.num_envs, dtype=np.float32)
24 self.episode_lengths = np.zeros(self.num_envs, dtype=np.int32)
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py) in reset(self, **kwargs)
281
282 def reset(self, **kwargs) -> Union[ObsType, tuple[ObsType, dict]]:
--> 283 return self.env.reset(**kwargs)
284
285 def render(self, mode="human", **kwargs):
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/core.py) in reset(self, **kwargs)
309 return self.observation(obs), info
310 else:
--> 311 return self.observation(self.env.reset(**kwargs))
312
313 def step(self, action):
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/wrappers/time_limit.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/wrappers/time_limit.py) in reset(self, **kwargs)
24 def reset(self, **kwargs):
25 self._elapsed_steps = 0
---> 26 return self.env.reset(**kwargs)
[~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/wrappers/order_enforcing.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/anaconda3/envs/assistive_robotics/lib/python3.7/site-packages/gym/wrappers/order_enforcing.py) in reset(self, **kwargs)
16 def reset(self, **kwargs):
17 self._has_reset = True
---> 18 return self.env.reset(**kwargs)
[~/Documents/1_PhD/assistive_gym/assistive-gym/assistive_gym/envs/scratch_itch.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/Documents/1_PhD/assistive_gym/assistive-gym/assistive_gym/envs/scratch_itch.py) in reset(self)
116 target_ee_pos = np.array([-0.6, 0, 0.8]) + self.np_random.uniform(-0.05, 0.05, size=3)
117 target_ee_orient = self.get_quaternion(self.robot.toc_ee_orient_rpy[self.task])
--> 118 self.init_robot_pose(target_ee_pos, target_ee_orient, [(target_ee_pos, target_ee_orient)], [(shoulder_pos, None), (elbow_pos, None), (wrist_pos, None)], arm='left', tools=[self.tool], collision_objects=[self.human, self.furniture])
119
120 # Open gripper to hold the tool
[~/Documents/1_PhD/assistive_gym/assistive-gym/assistive_gym/envs/env.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/Documents/1_PhD/assistive_gym/assistive-gym/assistive_gym/envs/env.py) in init_robot_pose(self, target_ee_pos, target_ee_orient, start_pos_orient, target_pos_orients, arm, tools, collision_objects, wheelchair_enabled, right_side, max_iterations)
294 elif self.robot.wheelchair_mounted and wheelchair_enabled:
295 # Use IK to find starting joint angles for mounted robots
--> 296 self.robot.ik_random_restarts(right=(arm == 'right'), target_pos=target_ee_pos, target_orient=target_ee_orient, max_iterations=1000, max_ik_random_restarts=1000, success_threshold=0.01, step_sim=False, check_env_collisions=False, randomize_limits=True, collision_objects=collision_objects)
297 else:
298 # Use TOC with JLWKI to find an optimal base position for the robot near the person
[~/Documents/1_PhD/assistive_gym/assistive-gym/assistive_gym/envs/agents/robot.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/Documents/1_PhD/assistive_gym/assistive-gym/assistive_gym/envs/agents/robot.py) in ik_random_restarts(self, right, target_pos, target_orient, max_iterations, max_ik_random_restarts, success_threshold, step_sim, check_env_collisions, randomize_limits, collision_objects)
89 best_ik_distance = 0
90 for r in range(max_ik_random_restarts):
---> 91 target_joint_angles = self.ik(self.right_end_effector if right else self.left_end_effector, target_pos, target_orient, ik_indices=self.right_arm_ik_indices if right else self.left_arm_ik_indices, max_iterations=max_iterations, half_range=self.half_range, randomize_limits=(randomize_limits and r >= 10))
92 self.set_joint_angles(self.right_arm_joint_indices if right else self.left_arm_joint_indices, target_joint_angles)
93 gripper_pos, gripper_orient = self.get_pos_orient(self.right_end_effector if right else self.left_end_effector)
[~/Documents/1_PhD/assistive_gym/assistive-gym/assistive_gym/envs/agents/agent.py](https://file+.vscode-resource.vscode-cdn.net/Users/leohink/Documents/1_PhD/assistive_gym/~/Documents/1_PhD/assistive_gym/assistive-gym/assistive_gym/envs/agents/agent.py) in ik(self, target_joint, target_pos, target_orient, ik_indices, max_iterations, half_range, use_current_as_rest, randomize_limits)
253 if target_orient is not None and len(target_orient) < 4:
254 target_orient = self.get_quaternion(target_orient)
--> 255 ik_lower_limits = self.ik_lower_limits if not randomize_limits else self.np_random.uniform(0, self.ik_lower_limits)
256 ik_upper_limits = self.ik_upper_limits if not randomize_limits else self.np_random.uniform(0, self.ik_upper_limits)
257 ik_joint_ranges = ik_upper_limits - ik_lower_limits
_generator.pyx in numpy.random._generator.Generator.uniform()
_common.pyx in numpy.random._common.cont()
_common.pyx in numpy.random._common.cont_broadcast_2()
_common.pyx in numpy.random._common.check_array_constraint()
ValueError: high - low < 0
When I run
env.reset()now and then, I get this errorValueError: high - low < 0; it is hard to reproduce this error. It occurs somewhat randomly. I have no idea why this is occurring. In particular, it seems to occur when callingself.init_robot_posewhen calling env.reset()`. This also occurs when setting a random seed. I'm testing with the scratch-itch environment. Any help would be much appreciated.Edit: This error does not occur in Feeding environments have yet to test other so it might be isolated to scratch itch.
Full error: