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ValueError: could not broadcast input array from shape (23,) into shape (27,) #1915

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n-kish opened this issue Apr 30, 2024 · 2 comments
Closed
5 tasks done

ValueError: could not broadcast input array from shape (23,) into shape (27,) #1915

n-kish opened this issue Apr 30, 2024 · 2 comments
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check the checklist You have checked the required items in the checklist but you didn't do what is written... custom gym env Issue related to Custom Gym Env

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@n-kish
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n-kish commented Apr 30, 2024 •
edited

馃悰 Bug

Added more information to communicate the issue better.

When I try gym.make and provide a custom xml_file with a different number of body parts to that of the original XML file, instead of dynamically updating the observation shape, I receive a mismatch in the observation shape error.

xml_file (custom_ant.xml):

<mujoco model="ant">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  <option integrator="RK4" timestep="0.01"/>
  <custom>
    <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
  </custom>
  <default>
    <joint armature="1" damping="1" limited="true"/>
    <geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
  </default>
  <asset>
    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
    <material name="geom" texture="texgeom" texuniform="true"/>
  </asset>
  <worldbody>
    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
    <body name="torso" pos="0 0 0.75">
      <camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
      <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
      <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
      <body name="front_left_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
        <body name="aux_1" pos="0.2 0.2 0">
          <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.2 0.2 0">
            <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="front_right_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
        <body name="aux_2" pos="-0.2 0.2 0">
          <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 0.2 0">
            <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="back_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
        <body name="aux_3" pos="-0.2 -0.2 0">
          <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 -0.2 0">
            <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
  </actuator>
</mujoco>

To Reproduce

Python code:

import gymnasium as gym
from stable_baselines3 import PPO
from stable_baselines3.common.env_util import make_vec_env

env_id = "Ant-v4"
xml_path = '/home/.........../custom_ant.xml'. 
env = gym.make(env_id, xml_file=xml_path)
model = PPO("MlpPolicy", env, verbose=1)
model.learn(total_timesteps=25000)
model.save("ppo_ant")

Relevant log output / Error message

Traceback (most recent call last):
  File "test_train.py", line 12, in <module>
    model.learn(total_timesteps=25000)
  File "/home/knagiredla/.conda/envs/render/lib/python3.8/site-packages/stable_baselines3/ppo/ppo.py", line 315, in learn
    return super().learn(
  File "/home/knagiredla/.conda/envs/render/lib/python3.8/site-packages/stable_baselines3/common/on_policy_algorithm.py", line 287, in learn
    total_timesteps, callback = self._setup_learn(
  File "/home/knagiredla/.conda/envs/render/lib/python3.8/site-packages/stable_baselines3/common/base_class.py", line 423, in _setup_learn
    self._last_obs = self.env.reset()  # type: ignore[assignment]
  File "/home/knagiredla/.conda/envs/render/lib/python3.8/site-packages/stable_baselines3/common/vec_env/dummy_vec_env.py", line 78, in reset
    self._save_obs(env_idx, obs)
  File "/home/knagiredla/.conda/envs/render/lib/python3.8/site-packages/stable_baselines3/common/vec_env/dummy_vec_env.py", line 108, in _save_obs
    self.buf_obs[key][env_idx] = obs
ValueError: could not broadcast input array from shape (23,) into shape (27,)

System Info

Python version == 3.8.16
Stable-baselines3 version == 2.3.2
Gymnasium version == 0.29.1

Checklist

  • My issue does not relate to a custom gym environment. (Use the custom gym env template instead)
  • I have checked that there is no similar issue in the repo
  • I have read the documentation
  • I have provided a minimal and working example to reproduce the bug
  • I've used the markdown code blocks for both code and stack traces.
@n-kish n-kish added the bug Something isn't working label Apr 30, 2024
@araffin araffin added custom gym env Issue related to Custom Gym Env check the checklist You have checked the required items in the checklist but you didn't do what is written... and removed bug Something isn't working labels Apr 30, 2024
@n-kish n-kish changed the title [Bug]: ValueError: could not broadcast input array from shape (19,) into shape (27,) ValueError: could not broadcast input array from shape (23,) into shape (27,) May 8, 2024
@n-kish
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n-kish commented May 8, 2024

After looking at this problem more, I realized the issue I face is handled in the gymnasium's Ant-v5 environment. However, Stable-baselines3 version == 2.3.2 doesn't support v5 environments.

@araffin
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araffin commented May 8, 2024

you may give #1837 a try then.

@araffin araffin closed this as not planned Won't fix, can't repro, duplicate, stale May 15, 2024
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