RuntimeError: Handle Panda does not exist. #24
Description
import os
import openai
from arguments import get_config
from interfaces import setup_LMP
from visualizers import ValueMapVisualizer
from envs.rlbench_env import VoxPoserRLBench
from utils import set_lmp_objects
import numpy as np
from rlbench import tasks
config = get_config('rlbench')
# uncomment this if you'd like to change the language model (e.g., for faster speed or lower cost)
# for lmp_name, cfg in config['lmp_config']['lmps'].items():
# cfg['model'] = 'gpt-3.5-turbo'
# initialize env and voxposer ui
visualizer = ValueMapVisualizer(config['visualizer'])
env = VoxPoserRLBench(visualizer=visualizer)
lmps, lmp_env = setup_LMP(env, config, debug=False)
voxposer_ui = lmps['plan_ui']result:
Jupyter environment detected. Enabling Open3D WebVisualizer.
[Open3D INFO] WebRTC GUI backend enabled.
[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.
---------------------------------------------------------------------------
RuntimeError Traceback (most recent call last)
Cell In[2], line 20
14 # uncomment this if you'd like to change the language model (e.g., for faster speed or lower cost)
15 # for lmp_name, cfg in config['lmp_config']['lmps'].items():
16 # cfg['model'] = 'gpt-3.5-turbo'
17
18 # initialize env and voxposer ui
19 visualizer = ValueMapVisualizer(config['visualizer'])
---> 20 env = VoxPoserRLBench(visualizer=visualizer)
21 lmps, lmp_env = setup_LMP(env, config, debug=False)
22 voxposer_ui = lmps['plan_ui']
File /data1/ckw/00robo/01llm/VoxPoser/src/envs/rlbench_env.py:52, in VoxPoserRLBench.__init__(self, visualizer)
49 action_mode = CustomMoveArmThenGripper(arm_action_mode=EndEffectorPoseViaPlanning(),
50 gripper_action_mode=Discrete())
51 self.rlbench_env = Environment(action_mode)
---> 52 self.rlbench_env.launch()
53 self.task = None
55 self.workspace_bounds_min = np.array([self.rlbench_env._scene._workspace_minx, self.rlbench_env._scene._workspace_miny, self.rlbench_env._scene._workspace_minz])
File /data1/ckw/micromamba/envs/voxposer-env/lib/python3.9/site-packages/rlbench/environment.py:112, in Environment.launch(self)
110 arm.set_position(panda_pos)
111 else:
--> 112 arm, gripper = arm_class(), gripper_class()
114 self._robot = Robot(arm, gripper)
115 if self._randomize_every is None:
File /data1/ckw/micromamba/envs/voxposer-env/lib/python3.9/site-packages/pyrep/robots/arms/panda.py:7, in Panda.__init__(self, count)
6 def __init__(self, count: int = 0):
----> 7 super().__init__(count, 'Panda', 7)
File /data1/ckw/micromamba/envs/voxposer-env/lib/python3.9/site-packages/pyrep/robots/arms/arm.py:25, in Arm.__init__(self, count, name, num_joints, base_name, max_velocity, max_acceleration, max_jerk)
23 """Count is used for when we have multiple copies of arms"""
24 joint_names = ['%s_joint%d' % (name, i+1) for i in range(num_joints)]
---> 25 super().__init__(count, name, joint_names, base_name)
27 # Used for motion planning
28 self.max_velocity = max_velocity
File /data1/ckw/micromamba/envs/voxposer-env/lib/python3.9/site-packages/pyrep/robots/robot_component.py:19, in RobotComponent.__init__(self, count, name, joint_names, base_name)
16 def __init__(self, count: int, name: str, joint_names: List[str],
17 base_name: str = None):
18 suffix = '' if count == 0 else '#%d' % (count - 1)
---> 19 super().__init__(
20 name + suffix if base_name is None else base_name + suffix)
21 self._num_joints = len(joint_names)
23 # Joint handles
File /data1/ckw/micromamba/envs/voxposer-env/lib/python3.9/site-packages/pyrep/objects/object.py:24, in Object.__init__(self, name_or_handle)
22 self._handle = name_or_handle
23 else:
---> 24 self._handle = sim.simGetObjectHandle(name_or_handle)
25 assert_type = self._get_requested_type()
26 actual = ObjectType(sim.simGetObjectType(self._handle))
File /data1/ckw/micromamba/envs/voxposer-env/lib/python3.9/site-packages/pyrep/backend/sim.py:94, in simGetObjectHandle(objectName)
92 handle = lib.simGetObjectHandle(objectName.encode('ascii'))
93 if handle < 0:
---> 94 raise RuntimeError('Handle %s does not exist.' % objectName)
95 return handle
RuntimeError: Handle Panda does not exist.