Env for safety gymnasium with isaac gym

1. ninja installation

Traceback (most recent call last):
  File "run.py", line 25, in <module>
    from siren1.common.env import make_sa_mujoco_env, make_sa_isaac_env
  File "/home/rui/pyproject/1_siren/1_siren/siren1/common/env.py", line 19, in <module>
    from safety_gymnasium.tasks.safe_isaac_gym.envs.tasks.ShadowHandCatchOver2underarm_Safe_finger import ShadowHandCatchOver2Underarm_Safe_finger
  File "/home/rui/pyproject/1_siren/safety-gymnasium-1.2.0/safety_gymnasium/tasks/safe_isaac_gym/envs/tasks/ShadowHandCatchOver2underarm_Safe_finger.py", line 14, in <module>
    from isaacgym import gymapi, gymtorch, gymutil
  File "/home/rui/tools/isaacgym/python/isaacgym/gymtorch.py", line 109, in <module>
    _import_gymtorch()
  File "/home/rui/tools/isaacgym/python/isaacgym/gymtorch.py", line 45, in _import_gymtorch
    gt = torch.utils.cpp_extension.load(name="gymtorch", sources=sources, extra_cflags=cflags, verbose=True)
  File "/home/rui/miniconda3/envs/siren-isaac/lib/python3.8/site-packages/torch/utils/cpp_extension.py", line 1312, in load
    return _jit_compile(
  File "/home/rui/miniconda3/envs/siren-isaac/lib/python3.8/site-packages/torch/utils/cpp_extension.py", line 1722, in _jit_compile
    _write_ninja_file_and_build_library(
  File "/home/rui/miniconda3/envs/siren-isaac/lib/python3.8/site-packages/torch/utils/cpp_extension.py", line 1804, in _write_ninja_file_and_build_library
    verify_ninja_availability()
  File "/home/rui/miniconda3/envs/siren-isaac/lib/python3.8/site-packages/torch/utils/cpp_extension.py", line 1853, in verify_ninja_availability
    raise RuntimeError("Ninja is required to load C++ extensions")
RuntimeError: Ninja is required to load C++ extensions

conda install ninja

2. safety-gymnasium 1.2.0才有isaacgym-franka的代码 所以在引入SafeMA的时候，safety-gymnasium 1.1.0 & 1.2.0的写法不一样，记得改成：
 

try:
    from safety_gymnasium.tasks.safe_multi_agent.safe_mujoco_multi import SafeMAEnv # for 1.1.0
except ImportError:
    from safety_gymnasium.tasks.safe_multi_agent.tasks.velocity.safe_mujoco_multi import SafeMAEnv # for 1.2.0