isolating held object checks to high level agent...

... that uses the high level "hand" rather than a physical arm also updating errorMessage for armed agents
allenai · Sep 25, 2024 · 33ef2df · 33ef2df
1 parent df6c14f
commit 33ef2df
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Showing 2 changed files with 2 additions and 16 deletions.
diff --git a/unity/Assets/Scripts/ArmAgentController.cs b/unity/Assets/Scripts/ArmAgentController.cs
@@ -275,7 +275,7 @@ public override void Teleport(
         ) {
             //non-high level agents cannot set standing
             if(standing != null) {
-                errorMessage = "Cannot set standing for stretch agent";
+                errorMessage = "Cannot set standing for arm/stretch agent";
                 actionFinishedEmit(success:false, actionReturn:null, errorMessage:errorMessage);
                 return;
             }
@@ -298,7 +298,7 @@ public override void TeleportFull(
         ) {
             //non-high level agents cannot set standing
             if(standing != null) {
-                errorMessage = "Cannot set standing for stretch agent";
+                errorMessage = "Cannot set standing for arm/stretch agent";
                 actionFinishedEmit(success:false, actionReturn:null, errorMessage:errorMessage);
                 return;
             }
@@ -318,11 +318,6 @@ public override void TeleportFull(
 
                 // add arm value cases
                 if (!forceAction) {
-                    if (isHandObjectColliding(ignoreAgent: true)) {
-                        throw new InvalidOperationException(
-                            "Cannot teleport due to hand object collision."
-                        );
-                    }
                     if (Arm != null && Arm.IsArmColliding()) {
                         throw new InvalidOperationException(
                             "Mid Level Arm is actively clipping with some geometry in the environment. TeleportFull fails in this position."

diff --git a/unity/Assets/Scripts/PhysicsRemoteFPSAgentController.cs b/unity/Assets/Scripts/PhysicsRemoteFPSAgentController.cs
@@ -1712,15 +1712,6 @@ public virtual void TeleportFull(
                             "Cannot teleport due to hand object collision."
                         );
                     }
-                    if (Arm != null && Arm.IsArmColliding()) {
-                        throw new InvalidOperationException(
-                            "Mid Level Arm is actively clipping with some geometry in the environment. TeleportFull fails in this position."
-                        );
-                    } else if (SArm != null && SArm.IsArmColliding()) {
-                        throw new InvalidOperationException(
-                            "Stretch Arm is actively clipping with some geometry in the environment. TeleportFull fails in this position."
-                        );
-                    }
                     base.assertTeleportedNearGround(targetPosition: position);
                 }
             } catch (InvalidOperationException e) {