retain implementable actions

Author: cobot

code_generation/openai_chat_completion_prefix.py

@@ -13,11 +13,6 @@
 say(message)
 pick(object)
 place(object)
-pick_up(object)
-put_down(object, destination)
-put_into_basket(object)
-retrieve_from_basket(object)
-get_reachable_locations_around_object(object)    
 
 Robot tasks are defined in named functions, with docstrings describing the task.
 \"\"\"
@@ -52,26 +47,6 @@ def pick(obj: str) -> None:
 # Place an object down if you are holding one.
 def place(obj: str) -> None:
     ...
-
-# Pick up an object if you are not already holding one. You can only hold one object at a time.
-def pick_up(obj: str) -> None:
-    ...
-
-# Put down an object at the specified destination location, if you are holding one.
-def put_down(obj: str, dest: str) -> None:
-    ...
-
-# Put an object that you are holding into the basket
-def put_into_basket(obj: str) -> None:
-    ...
-
-# Retrieve an object from the basket
-def retrieve_from_basket(obj: str) -> None:
-    ...
-
-# Get a list of all locations from which the specified object can be reached
-def get_reachable_locations_around_object(obj: str) -> None:
-    ...
 """
   },
 
@@ -158,7 +133,7 @@ def task_program():
 
   {
     "role": "user",
-    "content": "Go to the kitchen and wait for someone to show up. When someone shows up, ask them to place the diet coke from the fridge in your basket, and bring it here"
+    "content": "Go to the kitchen and wait for someone to show up. When someone shows up, ask them to bring the diet coke from the fridge here"
   },
   {
     "role": "assistant",
@@ -168,55 +143,11 @@ def task_program():
     go_to("kitchen")
     while True:
         if is_in_room("person"):
-            response = ask("", "Could you please place the diet coke from the fridge in my basket?", ["Yes", "No"])
+            response = ask("", "Could you please bring the diet coke from the fridge here?", ["Yes", "No"])
             if response == "Yes":
                 break
         time.sleep(1)
     go_to(start_loc)
 """
   },
-
-  {
-    "role": "user",
-    "content": "Go to the table next to the sofa and pick up the mug, and then bring it to the kitchen sink."
-  },
-  {
-    "role": "assistant",
-    "content": """
-def task_program():
-    start_loc = get_current_location()
-    go_to("table next to sofa")
-    list_of_locations = get_reachable_locations_around_object("mug")
-    go_to(list_of_locations[0])
-    pick_up("mug")
-    go_to("kitchen sink")
-    put_down("mug", "kitchen sink")
-"""
-  },
-
-  {
-    "role": "user",
-    "content": "Collect all the soda cans around the kitchen, put them in your basket, and then put them into the trashcan"
-  },
-  {
-    "role": "assistant",
-    "content": """
-def task_program():
-    start_loc = get_current_location()
-    list_of_locations = get_reachable_locations_around_object("soda can")
-    number_of_soda_cans = 0
-    while len(list_of_locations) > 0:
-        go_to(list_of_locations[0])
-        pick_up("soda can")
-        put_into_basket("soda can")
-        list_of_locations = get_reachable_locations_around_object("soda can")
-        number_of_soda_cans = number_of_soda_cans + 1
-
-    go_to("trashcan")
-    for n in range(number_of_soda_cans):
-        retrieve_from_basket("soda can")
-        put_down("soda can", "trashcan")
-"""
-  },
- 
 ]

code_generation/openai_chat_completion_prefix_minimal.py

@@ -13,11 +13,6 @@
 say(message)
 pick(object)
 place(object)
-pick_up(object)
-put_down(object, destination)
-put_into_basket(object)
-retrieve_from_basket(object)
-get_reachable_locations_around_object(object)    
 
 Robot tasks are defined in named functions, with docstrings describing the task.
 \"\"\"

code_generation/prompt_prefix.py

@@ -9,11 +9,6 @@
 say(message)
 pick(object)
 place(object)
-pick_up(object)
-put_down(object, destination)
-put_into_basket(object)
-retrieve_from_basket(object)
-get_reachable_locations_around_object(object)    
 
 Robot tasks are defined in named functions, with docstrings describing the task.
 """
@@ -49,26 +44,6 @@ def pick(obj: str) -> None:
 # Place an object down if you are holding one.
 def place(obj: str) -> None:
     ...
-
-# Pick up an object if you are not already holding one. You can only hold one object at a time.
-def pick_up(obj: str) -> None:
-    ...
-
-# Put down an object at the specified destination location, if you are holding one.
-def put_down(obj: str, dest: str) -> None:
-    ...
-
-# Put an object that you are holding into the basket
-def put_into_basket(obj: str) -> None:
-    ...
-
-# Retrieve an object from the basket
-def retrieve_from_basket(obj: str) -> None:
-    ...
-
-# Get a list of all locations from which the specified object can be reached
-def get_reachable_locations_around_object(obj: str) -> None:
-    ...
 
 # Go to Arjun's office, ask him if he is ready to head out, and come back and tell me what he said
 def task_program():
@@ -155,32 +130,3 @@ def task_program():
         go_to(room)
         place("bed sheet")
     go_to(start_loc)
-
-# Go to the table next to the sofa and pick up the mug, and then bring it to the kitchen sink.
-def task_program():
-    start_loc = get_current_location()
-    go_to("table next to sofa")
-    list_of_locations = get_reachable_locations_around_object("mug")
-    go_to(list_of_locations[0])
-    pick_up("mug")
-    go_to("kitchen sink")
-    put_down("mug", "kitchen sink")
-
-# Collect all the soda cans around the kitchen, put them in your basket, and then put them into the trashcan
-def task_program():
-    start_loc = get_current_location()
-    list_of_locations = get_reachable_locations_around_object("soda can")
-    number_of_soda_cans = 0
-    while len(list_of_locations) > 0:
-        go_to(list_of_locations[0])
-        pick_up("soda can")
-        put_into_basket("soda can")
-        list_of_locations = get_reachable_locations_around_object("soda can")
-        number_of_soda_cans = number_of_soda_cans + 1
-
-    go_to("trashcan")
-    for n in range(number_of_soda_cans):
-        retrieve_from_basket("soda can")
-        put_down("soda can", "trashcan")
-
-# 

code_generation/prompt_prefix_minimal.py

@@ -9,11 +9,6 @@
 say(message)
 pick(object)
 place(object)
-pick_up(object)
-put_down(object, destination)
-put_into_basket(object)
-retrieve_from_basket(object)
-get_reachable_locations_around_object(object)    
 
 Robot tasks are defined in named functions, with docstrings describing the task.
 """
@@ -49,26 +44,6 @@ def pick(obj: str) -> None:
 # Place an object down if you are holding one.
 def place(obj: str) -> None:
     ...
-    
-# Pick up an object if you are not already holding one. You can only hold one object at a time.
-def pick_up(obj: str) -> None:
-    ...
-
-# Put down an object at the specified destination location, if you are holding one.
-def put_down(obj: str, dest: str) -> None:
-    ...
-
-# Put an object that you are holding into the basket
-def put_into_basket(obj: str) -> None:
-    ...
-
-# Retrieve an object from the basket
-def retrieve_from_basket(obj: str) -> None:
-    ...
-
-# Get a list of all locations from which the specified object can be reached
-def get_reachable_locations_around_object(obj: str) -> None:
-    ...
 
 # Go to Arjun's office, ask him if he is ready to head out, and come back and tell me what he said
 def task_program():

robot_interface/src/robot_client_interface.py

@@ -17,11 +17,6 @@
     Ask,
     Pick,
     Place,
-    PickUp,
-    PutDown,
-    PutIntoBasket,
-    RetrieveFromBasket,
-    GetReachableLocationsAroundObject,
 )
 
 
@@ -42,11 +37,6 @@ def __init__(self):
         self.ask_client = ActionClient(self, Ask, "/ask_server")
         self.pick_client = ActionClient(self, Pick, "/pick_server")
         self.place_client = ActionClient(self, Place, "/place_server")
-        self.pick_up_client = ActionClient(self, PickUp, "/pick_up_server")
-        self.put_down_client = ActionClient(self, PutDown, "/put_down_server")
-        self.put_into_basket_client = ActionClient(self, PutIntoBasket, "/put_into_basket_server")
-        self.retrieve_from_basket_client = ActionClient(self, RetrieveFromBasket, "/retrieve_from_basket_server")
-        self.get_reachable_locations_around_object_client = ActionClient(self, GetReachableLocationsAroundObject, "/get_reachable_locations_around_object_server")
 
         print("====== Waiting for robot action servers... ======")
         self.go_to_client.wait_for_server()
@@ -57,11 +47,7 @@ def __init__(self):
         self.ask_client.wait_for_server()
         self.pick_client.wait_for_server()
         self.place_client.wait_for_server()
-        self.pick_up_client.wait_for_server()
-        self.put_down_client.wait_for_server()
-        self.put_into_basket_client.wait_for_server()
-        self.retrieve_from_basket_client.wait_for_server()
-        self.get_reachable_locations_around_object_client.wait_for_server()
+        
         print("======= Connected to robot action servers =======")
 
     def _handle_client(self, client, goal, action_name):
@@ -127,38 +113,11 @@ def pick(self, obj: str) -> None:
         self._handle_client(self.pick_client, goal, "pick")
 
     # Place an object in the current room. Make sure you are in the same room as the
-    # object before calling this function and is currently holding an object.
+    # object before calling this function and are currently holding an object.
     def place(self, obj: str) -> None:
         goal = Place.Goal(obj=obj)
         self._handle_client(self.place_client, goal, "place")
 
-    # Pick up an object from the environment. Make sure you can reach the object from your
-    # current location first.
-    def pick_up(self, obj: str) -> None:
-        goal = PickUp.Goal(obj=obj)
-        self._handle_client(self.pick_up_client, goal, "pick_up")
-    
-    # Pick up an object from the environment. Make sure you can reach the object from your
-    # current location first.
-    def put_down(self, obj: str, dest: str) -> None:
-        goal = PutDown.Goal(obj=obj, location=dest)
-        self._handle_client(self.put_down_client, goal, "put_down")
-
-    # Place an already held object into the basket
-    def put_into_basket(self, obj: str) -> None:
-        goal = PutIntoBasket.Goal(obj=obj)
-        self._handle_client(self.put_into_basket_client, goal, "put_into_basket")
-
-    # Retrieve an item that is in the basket from the basket, and make sure you are holding it
-    def retrieve_from_basket(self, obj: str) -> None:
-        goal = RetrieveFromBasket.Goal(obj=obj)
-        self._handle_client(self.retrieve_from_basket_client, goal, "retrieve_from_basket")
-
-    # Given an object, returns the list of locations within a certain location around the object
-    def get_reachable_locations_around_object(self, obj: str) -> List[str]:
-        goal = GetReachableLocationsAroundObject.Goal(obj=obj)
-        return self._handle_client(self.get_reachable_locations_around_object_client, goal, "get_reachable_locations_around_object").locations
-
     def _cancel_goals(self):
         # Cancel all pending goals
         self.go_to_client.cancel_all_goals()
@@ -169,11 +128,6 @@ def _cancel_goals(self):
         self.ask_client.cancel_all_goals()
         self.pick_client.cancel_all_goals()
         self.place_client.cancel_all_goals()
-        self.pick_up_client.cancel_all_goals()
-        self.put_down_client.cancel_all_goals()
-        self.put_into_basket_client.cancel_all_goals()
-        self.retrieve_from_basket_client.cancel_all_goals()
-        self.get_reachable_locations_around_object_client.cancel_all_goals()
 
 
 def execute_task_program(program: str, robot: RobotInterface):
@@ -190,11 +144,6 @@ def execute_task_program(program: str, robot: RobotInterface):
             "place": robot.place,
             "get_all_rooms": robot.get_all_rooms,
             "get_current_location": robot.get_current_location,
-            "pick_up": robot.pick_up,
-            "put_down": robot.put_down,
-            "put_into_basket": robot.put_into_basket,
-            "retrieve_from_basket": robot.retrieve_from_basket,
-            "get_reachable_locations_around_object": robot.get_reachable_locations_around_object,
             "time": time,
         }
         program_with_call = program + "\n\ntask_program()\n"