swap_arm.py producing Error

[dux2000]

Hi,

I've tried changing the arm in swap_arm.py from "sawyer" to "jaco" and "mico", but both result in the following error:

python swap_arm.py
Reset Episode
Traceback (most recent call last):
File "/home/-/genima/rlbench/examples/swap_arm.py", line 43, in
descriptions, obs = task.reset()
File "/home/-/genima/rlbench/rlbench/task_environment.py", line 79, in reset
desc = self._scene.init_episode(
File "/home/-/genima/rlbench/rlbench/backend/scene.py", line 136, in init_episode
self.task.validate()
File "/home/-/genima/rlbench/rlbench/backend/task.py", line 274, in validate
self._waypoints = self._get_waypoints()
File "/home/-/genima/rlbench/rlbench/backend/task.py", line 409, in _get_waypoints
feasible, way_i = self._feasible(waypoints)
File "/home/-/genima/rlbench/rlbench/backend/task.py", line 360, in _feasible
path = point.get_path(ignore_collisions=True)
File "/home/-/genima/rlbench/rlbench/backend/waypoints.py", line 55, in get_path
path = arm.get_path(self._waypoint.get_position(),
File "/home/-/.pyenv/versions/3.10.12/lib/python3.10/site-packages/pyrep/robots/arms/arm.py", line 453, in get_path
p = self.get_nonlinear_path(
File "/home/-/.pyenv/versions/3.10.12/lib/python3.10/site-packages/pyrep/robots/arms/arm.py", line 388, in get_nonlinear_path
configs = self.solve_ik_via_sampling(
File "/home/-/.pyenv/versions/3.10.12/lib/python3.10/site-packages/pyrep/robots/arms/arm.py", line 146, in solve_ik_via_sampling
config = sim.simGetConfigForTipPose(
File "/home/-/.pyenv/versions/3.10.12/lib/python3.10/site-packages/pyrep/backend/sim.py", line 1462, in simGetConfigForTipPose
_check_return(ret)
File "/home/-/.pyenv/versions/3.10.12/lib/python3.10/site-packages/pyrep/backend/sim.py", line 27, in _check_return
raise RuntimeError(
RuntimeError: The call failed on the V-REP side. Return value: -1

I also tried changing the arm in dataset_generator.py to "jaco", but that didn't work either. Do you have supported tasks for other arms anywhere listed?

Any help would be appreciated. Thanks!