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openai / safety-gym

Tools for accelerating safe exploration research.
https://openai.com/blog/safety-gym/
MIT License
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Unable to load Button environments #5

Open hari-sikchi opened 4 years ago

hari-sikchi commented 4 years ago

I get the following error on running:

env = gym.make('Safexp-CarButton1-v0') env.reset() Any help appreciated!

Exception: <?xml version="1.0" encoding="utf-8"?>
<mujoco><size njmax="3000" nconmax="1000"></size><option timestep="0.004"></option><default><geom condim="6" density="5" rgba="1 0 0 1" size=".05" type="sphere"></geom><joint damping=".001"></joint><motor ctrlrange="-1 1" ctrllimited="tru
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rack" pos="-1.988508904085344 -0.21408488590581118 2" xyaxes="0.10704244295290559 -0.994254452042672 0 0.994254452042672 0.10704244295290559 1"></camera><joint type="free" name="robot" damping="0"></joint><geom name="robot" type="box" siz
e=".1 .1 .05"></geom><geom name="back_bumper" type="box" pos="0 .15 0" size=".1 .01 .05"></geom><geom name="back_connector" type="box" pos="0 .125 0" size=".01 .025 .03"></geom><geom name="front_bumper" type="box" pos="0 -.165 0" size=".0
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0 0 -0.005 0 0"></geom></body><body name="right" pos=".1 .1 -.05"><joint type="hinge" name="right" axis="1 0 0"></joint><geom type="cylinder" name="right" fromto="0.005 0 0 .055 0 0"></geom></body><body name="rear" pos="0 -.1 -.05"><joint
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nt><geom name="gremlin0obj" type="box" size="0.1 0.1 0.1" density="0.001" rgba="0.5 0.0 1.0 1.0" group="5"></geom></body><body name="gremlin1obj" pos="1.0898417067317867 0.3373363871111257 0.1" quat="0.6830294888910149 0.0 0.0 0.730390797
659225"><freejoint name="gremlin1obj"></freejoint><geom name="gremlin1obj" type="box" size="0.1 0.1 0.1" density="0.001" rgba="0.5 0.0 1.0 1.0" group="5"></geom></body><body name="gremlin2obj" pos="0.20921855168015724 -0.9738611444854819
0.1" quat="-0.9805530090568743 0.0 0.0 0.1962544176050807"><freejoint name="gremlin2obj"></freejoint><geom name="gremlin2obj" type="box" size="0.1 0.1 0.1" density="0.001" rgba="0.5 0.0 1.0 1.0" group="5"></geom></body><body name="gremlin
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0 1.0" group="5"></geom></body><body name="gremlin0mocap" mocap="true"><geom name="gremlin0mocap" type="box" size="0.1 0.1 0.1" rgba="0.5 0.0 1.0 0.1" pos="1.0852476793812973 -0.9724453510730173 0.1" quat="0.7139469693528614 0.0 0.0 0.700
1997750298585" contype="0" conaffinity="0" group="5"></geom></body><body name="gremlin1mocap" mocap="true"><geom name="gremlin1mocap" type="box" size="0.1 0.1 0.1" rgba="0.5 0.0 1.0 0.1" pos="1.0898417067317867 0.3373363871111257 0.1" qua
t="0.6830294888910149 0.0 0.0 0.730390797659225" contype="0" conaffinity="0" group="5"></geom></body><body name="gremlin2mocap" mocap="true"><geom name="gremlin2mocap" type="box" size="0.1 0.1 0.1" rgba="0.5 0.0 1.0 0.1" pos="0.2092185516
8015724 -0.9738611444854819 0.1" quat="-0.9805530090568743 0.0 0.0 0.1962544176050807" contype="0" conaffinity="0" group="5"></geom></body><body name="gremlin3mocap" mocap="true"><geom name="gremlin3mocap" type="box" size="0.1 0.1 0.1" rg
ba="0.5 0.0 1.0 0.1" pos="-0.9775798430218585 1.0180473432984232 0.1" quat="0.04458780474782743 0.0 0.0 0.9990054692882164" contype="0" conaffinity="0" group="5"></geom></body><body name="hazard0" pos="0.4994870994528797 1.105394193562490
2 0.02" quat="0.9274297032612048 0.0 0.0 0.37399752072551723"><geom name="hazard0" type="cylinder" size="0.2 0.01" rgba="0.0 0.0 1.0 0.25" group="3" contype="0" conaffinity="0"></geom></body><body name="hazard1" pos="0.7766287836646144 -0
.15186383549942795 0.02" quat="-0.9938756446685036 0.0 0.0 0.11050431183789282"><geom name="hazard1" type="cylinder" size="0.2 0.01" rgba="0.0 0.0 1.0 0.25" group="3" contype="0" conaffinity="0"></geom></body><body name="hazard2" pos="-0.
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e="1" conaffinity="1"></geom></body><body name="button2" pos="-0.4435421162465445 -0.21011340772567455 0.1" quat="0.47508936490737386 0.0 0.0 0.8799375519614492"><geom name="button2" type="sphere" size="0.1 0.1 0.1" rgba="1.0 0.5 0.0 1.0"
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0 0.5 0.0 1.0" group="1" contype="1" conaffinity="1"></geom></body><light cutoff="100" diffuse="1 1 1" dir="0 0 -1" directional="true" exponent="1" pos="0 0 0.5" specular="0 0 0" castshadow="false"></light><camera name="fixednear" pos="0
-2 2" zaxis="0 -1 1"></camera><camera name="fixedfar" pos="0 -5 5" zaxis="0 -1 1"></camera></worldbody><sensor><ballquat joint="rear" name="ballquat_rear"></ballquat><ballangvel joint="rear" name="ballangvel_rear"></ballangvel><accelerome
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name="subtreecom"></subtreecom><subtreelinvel body="robot" name="subtreelinvel"></subtreelinvel><subtreeangmom body="robot" name="subtreeangmom"></subtreeangmom></sensor><actuator><motor gear="1" jointinparent="left" name="left"></motor><
motor gear="1" jointinparent="right" name="right"></motor></actuator><equality><weld name="gremlin0mocap" body1="gremlin0mocap" body2="gremlin0obj" solref=".02 1.5"></weld><weld name="gremlin1mocap" body1="gremlin1mocap" body2="gremlin1ob
j" solref=".02 1.5"></weld><weld name="gremlin2mocap" body1="gremlin2mocap" body2="gremlin2obj" solref=".02 1.5"></weld><weld name="gremlin3mocap" body1="gremlin3mocap" body2="gremlin3obj" solref=".02 1.5"></weld></equality><asset><textur
e type="skybox" builtin="gradient" rgb1="0.527 0.582 0.906" rgb2="0.1 0.1 0.35" width="800" height="800" markrgb="1 1 1" mark="random" random="0.001"></texture><texture name="texplane" builtin="checker" height="100" width="100" rgb1="0.7
0.7 0.7" rgb2="0.8 0.8 0.8" type="2d"></texture><material name="MatPlane" reflectance="0.1" shininess="0.1" specular="0.1" texrepeat="10 10" texture="texplane"></material></asset></mujoco>
Failed to load XML from file: /tmp/tmph7sp3tbu.xml. mj_loadXML error: b'Error: mass and inertia of moving bodies must be positive\nObject name = gremlin0obj, id = 5, line = 2, column = 1739'
fbarez commented 3 years ago

Were you able to install and import safety gym?

acl21 commented 2 years ago

I am facing a similar issue when trying to initialize the Goal environment. @hari-sikchi were you able to solve this?

@fbarez Yes, I am able to install and import safety gym.