update

src/server/tasks/omnigibson/vab_omnigibson_src/utils/actions.py

@@ -1,8 +1,9 @@
 import numpy as np
 import omnigibson as og
 from utils.env_utils import *
+delta=1.2
 
-def grasp(robot, grasped_obj, obj, all_objs, delta=2.7):
+def grasp(robot, grasped_obj, obj, all_objs):
     
     if len(grasped_obj):
         return False, f"Cannot grasp! Robot already holds something!"
@@ -15,7 +16,7 @@ def grasp(robot, grasped_obj, obj, all_objs, delta=2.7):
     dis = distance_to_cuboid(robot_pos[:2], (obj.aabb[0][:2], obj.aabb[1][:2]))
     
     if dis > delta:
-        return False, f"Cannot grasp! Robot is not within {delta} meters of the object!"
+        return False, f"Cannot grasp! The object is not within reach of the robot!"
     
     else:
         robot_pos[2] += robot.aabb_center[2] - 0.2
@@ -66,7 +67,7 @@ def move(robot, obj, pos, grasped_obj, all_objs):
     return True, "Moved successfully!"
 
 
-def put_inside(robot, obj, grasped_obj, container, all_objs, delta=2.7):
+def put_inside(robot, obj, grasped_obj, container, all_objs):
     
     if len(grasped_obj) == 0 or grasped_obj[0] != obj:
         return False, "Cannot put inside! Robot does not hold the object!"
@@ -95,7 +96,7 @@ def put_inside(robot, obj, grasped_obj, container, all_objs, delta=2.7):
     dis = distance_to_cuboid(robot_pos, container.aabb)
     
     if dis > delta:
-        return False, f"Cannot put inside! Robot is not within {delta} meters of the container!"
+        return False, f"Cannot put inside! The container is not within reach of the robot!"
     
     else:
 
@@ -140,7 +141,7 @@ def put_inside(robot, obj, grasped_obj, container, all_objs, delta=2.7):
         return True, "Put inside successfully!"
 
 
-def put_on_top(robot, obj, grasped_obj, surface, all_objs, delta=2.7):
+def put_on_top(robot, obj, grasped_obj, surface, all_objs):
     
     if len(grasped_obj) == 0 or grasped_obj[0] != obj:
         return False, "Cannot put on top! Robot does not hold the object!"
@@ -163,7 +164,7 @@ def put_on_top(robot, obj, grasped_obj, surface, all_objs, delta=2.7):
     dis = distance_to_cuboid(robot_pos, surface.aabb)
     
     if dis > delta:
-        return False, f"Cannot put on top! Robot is not within {delta} meters of the surface!"
+        return False, f"Cannot put on top! The surface is not within reach of the robot!"
     
     else:
 
@@ -208,7 +209,7 @@ def put_on_top(robot, obj, grasped_obj, surface, all_objs, delta=2.7):
         return True, "Put on top successfully!"
 
 
-def put_under(robot, obj, grasped_obj, surface, all_objs, delta=2.7):
+def put_under(robot, obj, grasped_obj, surface, all_objs):
     
     if len(grasped_obj) == 0 or grasped_obj[0] != obj:
         return False, "Cannot put under! Robot does not hold the object!"
@@ -231,7 +232,7 @@ def put_under(robot, obj, grasped_obj, surface, all_objs, delta=2.7):
     dis = distance_to_cuboid(robot_pos, surface.aabb)
     
     if dis > delta:
-        return False, f"Cannot put under! Robot is not within {delta} meters of the surface!"
+        return False, f"Cannot put under! The surface is not within reach of the robot!"
     
     else:
 
@@ -276,7 +277,7 @@ def put_under(robot, obj, grasped_obj, surface, all_objs, delta=2.7):
         return True, "Put under successfully!"
 
 
-def put_next_to(robot, obj, grasped_obj, surface, all_objs, delta=2.7):
+def put_next_to(robot, obj, grasped_obj, surface, all_objs):
 
     if len(grasped_obj) == 0 or grasped_obj[0] != obj:
         return False, "Cannot put next to! Robot doesn't hold the object!"
@@ -294,7 +295,7 @@ def put_next_to(robot, obj, grasped_obj, surface, all_objs, delta=2.7):
     dis = distance_to_cuboid(robot_pos, surface.aabb)
     
     if dis > delta:
-        return False, f"Cannot put next to! Robot is not within {delta} meters of the object!"
+        return False, f"Cannot put next to! The object is not within reach of the robot!"
     
     else:
 
@@ -336,7 +337,7 @@ def put_next_to(robot, obj, grasped_obj, surface, all_objs, delta=2.7):
         return True, "Put next to successfully!"
 
 
-def cook(robot, obj, delta=2.7):
+def cook(robot, obj):
 
     if og.object_states.Cooked not in obj.states:
         return False, "Cannot cook! Object is not cookable!"
@@ -344,7 +345,7 @@ def cook(robot, obj, delta=2.7):
     robot_pos = robot.get_position()
     dis = distance_to_cuboid(robot_pos, obj.aabb)
     if dis > delta:
-        return False, f"Cannot cook! Robot is not within {delta} meters of the object!"
+        return False, f"Cannot cook! The object is not within reach of the robot!"
     
     else:
         obj.states[og.object_states.Cooked].set_value(True)
@@ -353,7 +354,7 @@ def cook(robot, obj, delta=2.7):
         return True, "Cooked successfully!"
 
 
-def burn(robot, obj, delta=2.7):
+def burn(robot, obj):
 
     if og.object_states.Burnt not in obj.states:
         return False, "Cannot burn! Object is not burnable!"
@@ -361,7 +362,7 @@ def burn(robot, obj, delta=2.7):
     robot_pos = robot.get_position()
     dis = distance_to_cuboid(robot_pos, obj.aabb)
     if dis > delta:
-        return False, f"Cannot burn! Robot is not within {delta} meters of the object!"
+        return False, f"Cannot burn! The object is not within reach of the robot!"
     
     else:
         obj.states[og.object_states.Burnt].set_value(True)
@@ -370,7 +371,7 @@ def burn(robot, obj, delta=2.7):
         return True, "Burnt successfully!"
 
 
-def freeze(robot, obj, delta=2.7):
+def freeze(robot, obj):
 
     if og.object_states.Frozen not in obj.states:
         return False, "Cannot freeze! Object is not freezable!"
@@ -378,7 +379,7 @@ def freeze(robot, obj, delta=2.7):
     robot_pos = robot.get_position()
     dis = distance_to_cuboid(robot_pos, obj.aabb)
     if dis > delta:
-        return False, f"Cannot freeze! Robot is not within {delta} meters of the object!"
+        return False, f"Cannot freeze! The object is not within reach of the robot!"
     
     else:
         obj.states[og.object_states.Frozen].set_value(True)
@@ -387,7 +388,7 @@ def freeze(robot, obj, delta=2.7):
         return True, "Frozen successfully!"
 
 
-def heat(robot, obj, delta=2.7):
+def heat(robot, obj):
     
     if og.object_states.Heated not in obj.states:
         return False, "Cannot heat! Object is not heatable!"
@@ -395,7 +396,7 @@ def heat(robot, obj, delta=2.7):
     robot_pos = robot.get_position()
     dis = distance_to_cuboid(robot_pos, obj.aabb)
     if dis > delta:
-        return False, f"Cannot heat! Robot is not within {delta} meters of the object!"
+        return False, f"Cannot heat! The object is not within reach of the robot!"
     
     else:
         obj.states[og.object_states.Heated].set_value(True)
@@ -404,7 +405,7 @@ def heat(robot, obj, delta=2.7):
         return True, "Heated successfully!"
 
 
-def open(robot, obj, delta=2.7):
+def open(robot, obj):
         
     if og.object_states.Open not in obj.states:
         return False, "Cannot open! Object is not openable!"
@@ -412,7 +413,7 @@ def open(robot, obj, delta=2.7):
     robot_pos = robot.get_position()
     dis = distance_to_cuboid(robot_pos, obj.aabb)
     if dis > delta:
-        return False, f"Cannot open! Robot is not within {delta} meters of the object!"
+        return False, f"Cannot open! The object is not within reach of the robot!"
     
     else:
         for _ in range(4):
@@ -422,7 +423,7 @@ def open(robot, obj, delta=2.7):
         return True, "Opened successfully!"
     
 
-def close(robot, obj, delta=2.7):
+def close(robot, obj):
 
     if og.object_states.Open not in obj.states:
         return False, "Cannot close! Object is not openable!"
@@ -430,7 +431,7 @@ def close(robot, obj, delta=2.7):
     robot_pos = robot.get_position()
     dis = distance_to_cuboid(robot_pos, obj.aabb)
     if dis > delta:
-        return False, f"Cannot close! Robot is not within {delta} meters of the object!"
+        return False, f"Cannot close! The object is not within reach of the robot!"
     
     else:
         obj.states[og.object_states.Open].set_value(False)
@@ -439,7 +440,7 @@ def close(robot, obj, delta=2.7):
         return True, "Closed successfully!"
 
 
-def toggle_on(robot, obj, delta=2.7):
+def toggle_on(robot, obj):
 
     if og.object_states.ToggledOn not in obj.states:
         return False, "Cannot toggle on! Object is not toggleable!"
@@ -448,7 +449,7 @@ def toggle_on(robot, obj, delta=2.7):
     obj_pos = obj.get_position()
     dis = distance_to_cuboid(robot_pos, obj.aabb)
     if dis > delta:
-        return False, f"Cannot toggle on! Robot is not within {delta} meters of the object!"
+        return False, f"Cannot toggle on! The object is not within reach of the robot!"
     
     else:
         obj.states[og.object_states.ToggledOn].set_value(True)
@@ -457,7 +458,7 @@ def toggle_on(robot, obj, delta=2.7):
         return True, "Toggled on successfully!"
     
 
-def toggle_off(robot, obj, delta=2.7):
+def toggle_off(robot, obj):
 
     if og.object_states.ToggledOn not in obj.states:
         return False, "Cannot toggle off! Object is not toggleable!"
@@ -466,7 +467,7 @@ def toggle_off(robot, obj, delta=2.7):
     obj_pos = obj.get_position()
     dis = distance_to_cuboid(robot_pos, obj.aabb)
     if dis > delta:
-        return False, f"Cannot toggle off! Robot is not within {delta} meters of the object!"
+        return False, f"Cannot toggle off! The object is not within reach of the robot!"
     
     else:
         obj.states[og.object_states.ToggledOn].set_value(False)