Observation values out of range

[SaiVinay007]

I am getting Observation values greater than 1 when I am running train_rllib_agent.py
(using master branch of this repo)

2020-03-26 18:21:35,305	INFO resource_spec.py:212 -- Starting Ray with 3.27 GiB memory available for workers and up to 1.64 GiB for objects. You can adjust these settings with ray.init(memory=<bytes>, object_store_memory=<bytes>).
2020-03-26 18:21:36,115	INFO services.py:1078 -- View the Ray dashboard at localhost:8265
2020-03-26 18:21:36,904	INFO trainer.py:420 -- Tip: set 'eager': true or the --eager flag to enable TensorFlow eager execution
2020-03-26 18:21:37,054	INFO trainer.py:580 -- Current log_level is WARN. For more information, set 'log_level': 'INFO' / 'DEBUG' or use the -v and -vv flags.
/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
INFO:root:Specified torcs_server_port 60934 is not available. Searching for alternative...
INFO:root:torcs_server_port has been reassigned to 44366
INFO:root:-------------------------CURRENT TRACK:forza------------------------
UDP Timeout set to 10000000 10E-6 seconds.
Laptime limit disabled!
Noisy Sensors!
Waiting for request on port 44366
/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/utils/from_config.py:134: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
  obj = yaml.load(type_)
(pid=17992) /home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
(pid=17992)   warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
(pid=17992) /home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/utils/from_config.py:134: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
(pid=17992)   obj = yaml.load(type_)
Traceback (most recent call last):
  File "train_rllib_agent.py", line 29, in <module>
    result = trainer.train()
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/agents/trainer.py", line 494, in train
    raise e
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/agents/trainer.py", line 483, in train
    result = Trainable.train(self)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/tune/trainable.py", line 254, in train
    result = self._train()
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/agents/trainer_template.py", line 133, in _train
    fetches = self.optimizer.step()
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/optimizers/multi_gpu_optimizer.py", line 137, in step
    self.num_envs_per_worker, self.train_batch_size)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/optimizers/rollout.py", line 25, in collect_samples
    next_sample = ray_get_and_free(fut_sample)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/utils/memory.py", line 29, in ray_get_and_free
    result = ray.get(object_ids)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/worker.py", line 1504, in get
    raise value.as_instanceof_cause()
ray.exceptions.RayTaskError(ValueError): ray::RolloutWorker.sample() (pid=17992, ip=192.168.0.52)
  File "python/ray/_raylet.pyx", line 452, in ray._raylet.execute_task
  File "python/ray/_raylet.pyx", line 430, in ray._raylet.execute_task.function_executor
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/evaluation/rollout_worker.py", line 488, in sample
    batches = [self.input_reader.next()]
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/evaluation/sampler.py", line 52, in next
    batches = [self.get_data()]
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/evaluation/sampler.py", line 95, in get_data
    item = next(self.rollout_provider)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/evaluation/sampler.py", line 315, in _env_runner
    soft_horizon, no_done_at_end)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/evaluation/sampler.py", line 404, in _process_observations
    policy_id).transform(raw_obs)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/models/preprocessors.py", line 162, in transform
    self.check_shape(observation)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/models/preprocessors.py", line 61, in check_shape
    self._obs_space, observation)
ValueError: ('Observation outside expected value range', Box(60,), array([ 5.56550782e-08,  2.02869512e-02,  5.94304986e-02,  7.98150003e-02,
        1.37273997e-01,  2.09871992e-01,  3.48023504e-01,  6.04140043e-01,
        7.67295003e-01,  8.23809981e-01,  1.00119007e+00,  8.62675011e-01,
        8.87974977e-01,  8.75970006e-01,  8.09940040e-01,  4.89742011e-01,
        3.08934003e-01,  1.72173008e-01,  1.03631496e-01,  4.32050526e-02,
        3.33332986e-01,  0.00000000e+00,  0.00000000e+00, -2.22880002e-04,
        1.00978994e+00,  9.86819983e-01,  9.75160003e-01,  9.67469990e-01,
        1.01222503e+00,  9.89215016e-01,  9.94629979e-01,  1.01731002e+00,
        9.55635011e-01,  1.00125504e+00,  1.00168002e+00,  9.95970011e-01,
        9.77665007e-01,  1.01389503e+00,  9.82594967e-01,  9.79219973e-01,
        1.04600501e+00,  9.87020016e-01,  1.00498998e+00,  1.00105000e+00,
        9.85194981e-01,  1.01610005e+00,  1.01473498e+00,  9.86200035e-01,
        9.56799984e-01,  9.75569963e-01,  9.90504980e-01,  9.76555049e-01,
        9.68820035e-01,  1.00439501e+00,  1.00737500e+00,  1.00959003e+00,
        1.03243494e+00,  9.96204972e-01,  1.01459002e+00,  1.02346492e+00]))

When i set normalize = True in sim_options.yml

I am getting this error :

2020-03-26 18:38:33,066	INFO resource_spec.py:212 -- Starting Ray with 2.69 GiB memory available for workers and up to 1.35 GiB for objects. You can adjust these settings with ray.init(memory=<bytes>, object_store_memory=<bytes>).
2020-03-26 18:38:33,488	INFO services.py:1078 -- View the Ray dashboard at localhost:8265
2020-03-26 18:38:33,794	INFO trainer.py:420 -- Tip: set 'eager': true or the --eager flag to enable TensorFlow eager execution
2020-03-26 18:38:33,874	INFO trainer.py:580 -- Current log_level is WARN. For more information, set 'log_level': 'INFO' / 'DEBUG' or use the -v and -vv flags.
/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
INFO:root:Specified torcs_server_port 60934 is not available. Searching for alternative...
INFO:root:torcs_server_port has been reassigned to 36193
INFO:root:-------------------------CURRENT TRACK:forza------------------------
UDP Timeout set to 10000000 10E-6 seconds.
Laptime limit disabled!
Noisy Sensors!
Waiting for request on port 36193
/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/utils/from_config.py:134: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
  obj = yaml.load(type_)
(pid=19494) /home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
(pid=19494)   warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
(pid=19494) /home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/utils/from_config.py:134: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
(pid=19494)   obj = yaml.load(type_)
Traceback (most recent call last):
  File "train_rllib_agent.py", line 29, in <module>
    result = trainer.train()
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/agents/trainer.py", line 494, in train
    raise e
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/agents/trainer.py", line 483, in train
    result = Trainable.train(self)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/tune/trainable.py", line 254, in train
    result = self._train()
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/agents/trainer_template.py", line 133, in _train
    fetches = self.optimizer.step()
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/optimizers/multi_gpu_optimizer.py", line 137, in step
    self.num_envs_per_worker, self.train_batch_size)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/optimizers/rollout.py", line 25, in collect_samples
    next_sample = ray_get_and_free(fut_sample)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/utils/memory.py", line 29, in ray_get_and_free
    result = ray.get(object_ids)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/worker.py", line 1504, in get
    raise value.as_instanceof_cause()
ray.exceptions.RayTaskError(NameError): ray::RolloutWorker.sample() (pid=19494, ip=192.168.0.52)
  File "python/ray/_raylet.pyx", line 452, in ray._raylet.execute_task
  File "python/ray/_raylet.pyx", line 430, in ray._raylet.execute_task.function_executor
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/evaluation/rollout_worker.py", line 488, in sample
    batches = [self.input_reader.next()]
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/evaluation/sampler.py", line 52, in next
    batches = [self.get_data()]
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/evaluation/sampler.py", line 95, in get_data
    item = next(self.rollout_provider)
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/evaluation/sampler.py", line 301, in _env_runner
    base_env.poll()
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/env/base_env.py", line 308, in poll
    self.new_obs = self.vector_env.vector_reset()
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/env/vector_env.py", line 96, in vector_reset
    return [e.reset() for e in self.envs]
  File "/home/saivinay/Documents/TORCS/temp/lib/python3.6/site-packages/ray/rllib/env/vector_env.py", line 96, in <listcomp>
    return [e.reset() for e in self.envs]
  File "/home/saivinay/Documents/TORCS/MADRaS/MADRaS/envs/gym_madras.py", line 244, in reset
    s_t = self.observation_manager.get_obs(self.ob, self._config)
  File "/home/saivinay/Documents/TORCS/MADRaS/MADRaS/utils/observation_manager.py", line 20, in get_obs
    full_obs = self.normalize_obs(full_obs, game_config)
  File "/home/saivinay/Documents/TORCS/MADRaS/MADRaS/utils/observation_manager.py", line 31, in normalize_obs
    key, key, key, key))
  File "<string>", line 1, in <module>
NameError: name 'angle' is not defined

Can someone help regarding this problem?