Merge pull request #263 from StanfordVL/bottle-attachment-fix

fix squeeze bottle filled -> insource, fix attachment/draped tasks
StanfordVL · Mar 1, 2024 · 0b1f771 · 0b1f771
2 parents 8c203d6 + 62a634d
commit 0b1f771
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Showing 35 changed files with 41 additions and 71 deletions.
diff --git a/bddl/activity_definitions/baking_cookies_for_the_PTA_bake_sale/problem0.bddl b/bddl/activity_definitions/baking_cookies_for_the_PTA_bake_sale/problem0.bddl
@@ -36,7 +36,7 @@
         (ontop sugar__sack.n.01_1 countertop.n.01_1) 
         (inside raw_egg.n.01_1 bowl.n.01_1) 
         (inside raw_egg.n.01_2 bowl.n.01_1) 
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (ontop vanilla__bottle.n.01_1 countertop.n.01_1) 
         (filled mason_jar.n.01_1 melted__butter.n.01_1) 
         (ontop mason_jar.n.01_1 countertop.n.01_1) 

diff --git a/bddl/activity_definitions/baking_sugar_cookies/problem0.bddl b/bddl/activity_definitions/baking_sugar_cookies/problem0.bddl
@@ -39,7 +39,7 @@
         (filled sugar__sack.n.01_1 granulated_sugar.n.01_1)
         (ontop sugar__sack.n.01_1 countertop.n.01_1)
         (inside raw_egg.n.01_1 bowl.n.01_1)
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1)
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (ontop vanilla__bottle.n.01_1 countertop.n.01_1)
         (filled mason_jar.n.01_1 melted__butter.n.01_1)
         (ontop mason_jar.n.01_1 countertop.n.01_1)

diff --git a/bddl/activity_definitions/cook_a_duck/problem0.bddl b/bddl/activity_definitions/cook_a_duck/problem0.bddl
@@ -19,7 +19,7 @@
     (:init 
         (ontop chopping_board.n.01_1 oven.n.01_1) 
         (inside duck.n.03_1 electric_refrigerator.n.01_1)
-        (filled wine_sauce__bottle.n.01_1 wine_sauce.n.01_1)
+        (insource wine_sauce__bottle.n.01_1 wine_sauce.n.01_1)
         (inside wine_sauce__bottle.n.01_1 electric_refrigerator.n.01_1) 
         (inside clove.n.03_1 bowl.n.01_1) 
         (inside clove.n.03_2 bowl.n.01_1) 

diff --git a/bddl/activity_definitions/cook_a_ham/problem0.bddl b/bddl/activity_definitions/cook_a_ham/problem0.bddl
@@ -23,7 +23,7 @@
         (not 
             (cooked virginia_ham.n.01_1)
         ) 
-        (filled glaze__bottle.n.01_1 glaze.n.01_1)
+        (insource glaze__bottle.n.01_1 glaze.n.01_1)
         (inside glaze__bottle.n.01_1 electric_refrigerator.n.01_1)
         (inroom oven.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen) 

diff --git a/bddl/activity_definitions/cook_beef_and_onions/problem0.bddl b/bddl/activity_definitions/cook_beef_and_onions/problem0.bddl
@@ -21,7 +21,7 @@
         (inside steak.n.01_1 electric_refrigerator.n.01_1) 
         (inside vidalia_onion.n.01_1 electric_refrigerator.n.01_1)
         (inside green_onion.n.01_1 electric_refrigerator.n.01_1) 
-        (filled soy_sauce__bottle.n.01_1 soy_sauce.n.01_1)
+        (insource soy_sauce__bottle.n.01_1 soy_sauce.n.01_1)
         (inside soy_sauce__bottle.n.01_1 electric_refrigerator.n.01_1)
         (ontop wok.n.01_1 oven.n.01_1) 
         (not 

diff --git a/bddl/activity_definitions/cook_bok_choy/problem0.bddl b/bddl/activity_definitions/cook_bok_choy/problem0.bddl
@@ -28,7 +28,7 @@
         (not 
             (cooked bok_choy.n.02_1)
         ) 
-        (filled soy_sauce__bottle.n.01_1 soy_sauce.n.01_1)
+        (insource soy_sauce__bottle.n.01_1 soy_sauce.n.01_1)
         (inside soy_sauce__bottle.n.01_1 electric_refrigerator.n.01_1)
         (future melted__butter.n.01_1)
         (future diced__clove.n.01_1)

diff --git a/bddl/activity_definitions/cook_pork_ribs/problem0.bddl b/bddl/activity_definitions/cook_pork_ribs/problem0.bddl
@@ -18,7 +18,7 @@
     )
 
     (:init 
-        (filled barbecue_sauce__bottle.n.01_1 barbecue_sauce.n.01_1)
+        (insource barbecue_sauce__bottle.n.01_1 barbecue_sauce.n.01_1)
         (inside barbecue_sauce__bottle.n.01_1 electric_refrigerator.n.01_1)
         (not 
             (cooked rib.n.03_1)

diff --git a/bddl/activity_definitions/cook_snap_peas/problem0.bddl b/bddl/activity_definitions/cook_snap_peas/problem0.bddl
@@ -2,7 +2,7 @@
     (:domain omnigibson)
 
     (:objects
-        white_sauce.n.01_1 - white_sauce.n.01
+        cheese_sauce.n.01_1 - cheese_sauce.n.01
         white_sauce__bottle.n.01_1 - white_sauce__bottle.n.01
         cabinet.n.01_1 - cabinet.n.01
         pea_pod.n.01_1 pea_pod.n.01_2 pea_pod.n.01_3 pea_pod.n.01_4 - pea_pod.n.01
@@ -15,7 +15,7 @@
     )
 
     (:init 
-        (filled white_sauce__bottle.n.01_1 white_sauce.n.01_1) 
+        (insource white_sauce__bottle.n.01_1 cheese_sauce.n.01_1)
         (inside white_sauce__bottle.n.01_1 cabinet.n.01_1)
         (inside pea_pod.n.01_1 bowl.n.01_1) 
         (inside pea_pod.n.01_2 bowl.n.01_1) 
@@ -48,7 +48,7 @@
                 (?pea_pod.n.01 - pea_pod.n.01)
                 (and 
                     (cooked ?pea_pod.n.01)
-                    (covered ?pea_pod.n.01 ?white_sauce.n.01_1)
+                    (covered ?pea_pod.n.01 ?cheese_sauce.n.01_1)
                 )
             )
         )

diff --git a/bddl/activity_definitions/cooking_lunch/problem0.bddl b/bddl/activity_definitions/cooking_lunch/problem0.bddl
@@ -28,7 +28,7 @@
         (ontop plate.n.04_2 plate.n.04_1) 
         (insource parmesan__shaker.n.01_1 parmesan.n.01_1)
         (inside parmesan__shaker.n.01_1 electric_refrigerator.n.01_1)
-        (filled mustard__bottle.n.01_1 mustard.n.02_1)
+        (insource mustard__bottle.n.01_1 mustard.n.02_1)
         (inside mustard__bottle.n.01_1 electric_refrigerator.n.01_1)
         (inside steak.n.01_1 electric_refrigerator.n.01_1)
         (inside steak.n.01_2 electric_refrigerator.n.01_1)

diff --git a/bddl/activity_definitions/hang_a_rug_on_a_wall/problem0.bddl b/bddl/activity_definitions/hang_a_rug_on_a_wall/problem0.bddl
diff --git a/bddl/activity_definitions/hang_icicle_lights/problem0.bddl b/bddl/activity_definitions/hang_icicle_lights/problem0.bddl
@@ -6,7 +6,6 @@
         coffee_table.n.01_1 - coffee_table.n.01
         floor.n.01_1 - floor.n.01
         wall.n.01_1 - wall.n.01
-        tree.n.01_1 - tree.n.01
         agent.n.01_1 - agent.n.01
     )
 
@@ -15,10 +14,9 @@
         (not 
             (attached fairy_light.n.01_1 wall.n.01_1)
         )
-        (inroom floor.n.01_1 garden) 
-        (inroom wall.n.01_1 garden) 
-        (inroom tree.n.01_1 garden) 
-        (inroom coffee_table.n.01_1 garden) 
+        (inroom floor.n.01_1 living_room)
+        (inroom wall.n.01_1 living_room)
+        (inroom coffee_table.n.01_1 living_room)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 

diff --git a/bddl/activity_definitions/hanging_blinds/problem0.bddl b/bddl/activity_definitions/hanging_blinds/problem0.bddl
@@ -4,15 +4,13 @@
     (:objects
         window_blind.n.01_1 - window_blind.n.01
         table.n.02_1 - table.n.02
-        curtain_rod.n.01_1 - curtain_rod.n.01
         wall.n.01_1 - wall.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
         (ontop window_blind.n.01_1 table.n.02_1) 
-        (attached curtain_rod.n.01_1 wall.n.01_1) 
         (inroom wall.n.01_1 living_room)
         (inroom floor.n.01_1 living_room)
         (inroom table.n.02_1 living_room) 
@@ -21,7 +19,7 @@
 
     (:goal 
         (and 
-            (draped ?window_blind.n.01_1 ?curtain_rod.n.01_1)
+            (attached ?window_blind.n.01_1 ?wall.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/hanging_shades/problem0.bddl b/bddl/activity_definitions/hanging_shades/problem0.bddl
@@ -2,7 +2,6 @@
     (:domain omnigibson)
 
     (:objects
-        curtain_rod.n.01_1 - curtain_rod.n.01
         window_blind.n.01_1 - window_blind.n.01
         floor.n.01_1 - floor.n.01
         wall.n.01_1 - wall.n.01
@@ -11,15 +10,14 @@
 
     (:init 
         (ontop window_blind.n.01_1 floor.n.01_1) 
-        (attached curtain_rod.n.01_1 wall.n.01_1)
-        (inroom wall.n.01_1 bedroom) 
+        (inroom wall.n.01_1 bedroom)
         (inroom floor.n.01_1 bedroom) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (draped ?window_blind.n.01_1 ?curtain_rod.n.01_1)
+            (attached ?window_blind.n.01_1 ?wall.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/hanging_up_curtains/problem0.bddl b/bddl/activity_definitions/hanging_up_curtains/problem0.bddl
@@ -12,8 +12,8 @@
     (:init 
         (ontop curtain.n.01_1 floor.n.01_1) 
         (attached curtain_rod.n.01_1 wall.n.01_1)
-        (inroom floor.n.01_1 bedroom) 
-        (inroom wall.n.01_1 bedroom) 
+        (inroom floor.n.01_1 living_room)
+        (inroom wall.n.01_1 living_room)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 

diff --git a/bddl/activity_definitions/make_a_cheese_pastry/problem0.bddl b/bddl/activity_definitions/make_a_cheese_pastry/problem0.bddl
@@ -40,7 +40,7 @@
         (ontop sugar__sack.n.01_1 countertop.n.01_1) 
         (filled lemon_juice__bottle.n.01_1 lemon_juice.n.01_1) 
         (inside lemon_juice__bottle.n.01_1 electric_refrigerator.n.01_1) 
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (inside vanilla__bottle.n.01_1 cabinet.n.01_1) 
         (filled flour__sack.n.01_1 flour.n.01_1) 
         (ontop flour__sack.n.01_1 countertop.n.01_2) 

diff --git a/bddl/activity_definitions/make_a_milkshake/problem0.bddl b/bddl/activity_definitions/make_a_milkshake/problem0.bddl
@@ -21,7 +21,7 @@
     (:init
         (filled milk__carton.n.01_1 whole_milk.n.01_1)
         (ontop tablespoon.n.02_1 countertop.n.01_1)
-        (filled chocolate_sauce__bottle.n.01_1 chocolate_sauce.n.01_1)
+        (insource chocolate_sauce__bottle.n.01_1 chocolate_sauce.n.01_1)
         (inside scoop_of_ice_cream.n.01_1 ice_cream__carton.n.01_1)
         (ontop blender.n.01_1 countertop.n.01_1) 
         (ontop cup.n.01_1 countertop.n.01_1) 

diff --git a/bddl/activity_definitions/make_an_iced_espresso/problem0.bddl b/bddl/activity_definitions/make_an_iced_espresso/problem0.bddl
@@ -22,7 +22,7 @@
         (ontop cup.n.01_1 countertop.n.01_1) 
         (filled milk__carton.n.01_1 low-fat_milk.n.01_1) 
         (ontop milk__carton.n.01_1 countertop.n.01_1) 
-        (filled sugar_syrup__bottle.n.01_1 sugar_syrup.n.01_1) 
+        (insource sugar_syrup__bottle.n.01_1 sugar_syrup.n.01_1)
         (ontop sugar_syrup__bottle.n.01_1 countertop.n.01_1) 
         (inside ice_cube.n.01_1 cup.n.01_2) 
         (inside ice_cube.n.01_2 cup.n.01_2) 

diff --git a/bddl/activity_definitions/make_beef_and_broccoli/problem0.bddl b/bddl/activity_definitions/make_beef_and_broccoli/problem0.bddl
@@ -24,7 +24,7 @@
         (inside broccoli.n.02_3 electric_refrigerator.n.01_1) 
         (inside clove.n.03_1 electric_refrigerator.n.01_1)
         (inside clove.n.03_2 electric_refrigerator.n.01_1)
-        (filled soy_sauce__bottle.n.01_1 soy_sauce.n.01_1) 
+        (insource soy_sauce__bottle.n.01_1 soy_sauce.n.01_1)
         (inside soy_sauce__bottle.n.01_1 electric_refrigerator.n.01_1) 
         (inroom oven.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen) 

diff --git a/bddl/activity_definitions/make_brownies/problem0.bddl b/bddl/activity_definitions/make_brownies/problem0.bddl
@@ -37,7 +37,7 @@
         (ontop tablespoon.n.02_1 countertop.n.01_1) 
         (filled cocoa__box.n.01_1 cocoa_powder.n.01_1) 
         (ontop cocoa__box.n.01_1 countertop.n.01_1) 
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (ontop vanilla__bottle.n.01_1 countertop.n.01_1) 
         (inside raw_egg.n.01_1 bowl.n.01_1) 
         (filled flour__sack.n.01_1 flour.n.01_1) 

diff --git a/bddl/activity_definitions/make_chicken_and_waffles/problem0.bddl b/bddl/activity_definitions/make_chicken_and_waffles/problem0.bddl
@@ -51,7 +51,7 @@
         (ontop cooking_oil__bottle.n.01_1 countertop.n.01_1) 
         (filled maple_syrup__jar.n.01_1 maple_syrup.n.01_1)
         (inside maple_syrup__jar.n.01_1 electric_refrigerator.n.01_1)
-        (filled hot_sauce__bottle.n.01_1 hot_sauce.n.01_1)
+        (insource hot_sauce__bottle.n.01_1 hot_sauce.n.01_1)
         (inside hot_sauce__bottle.n.01_1 electric_refrigerator.n.01_1)
         (ontop plate.n.04_1 countertop.n.01_1)
         (filled tupperware.n.01_1 fritter_batter.n.01_1)

diff --git a/bddl/activity_definitions/make_chicken_fajitas/problem0.bddl b/bddl/activity_definitions/make_chicken_fajitas/problem0.bddl
@@ -67,7 +67,7 @@
         (inside cumin__shaker.n.01_1 cabinet.n.01_1)
         (insource paprika__shaker.n.01_1 paprika.n.02_1)
         (inside paprika__shaker.n.01_1 cabinet.n.01_1)
-        (filled salsa__bottle.n.01_1 salsa.n.01_1)
+        (insource salsa__bottle.n.01_1 salsa.n.01_1)
         (inside salsa__bottle.n.01_1 electric_refrigerator.n.01_1)
         (inside lime.n.06_1 electric_refrigerator.n.01_1)
         (inroom countertop.n.01_1 kitchen) 

diff --git a/bddl/activity_definitions/make_chocolate_syrup/problem0.bddl b/bddl/activity_definitions/make_chocolate_syrup/problem0.bddl
@@ -27,7 +27,7 @@
         (ontop tablespoon.n.02_1 countertop.n.01_1) 
         (insource salt__shaker.n.01_1 salt.n.02_1)
         (ontop salt__shaker.n.01_1 countertop.n.01_1)
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (ontop vanilla__bottle.n.01_1 countertop.n.01_1) 
         (filled cocoa__box.n.01_1 cocoa_powder.n.01_1) 
         (ontop cocoa__box.n.01_1 countertop.n.01_1) 

diff --git a/bddl/activity_definitions/make_cookie_dough/problem0.bddl b/bddl/activity_definitions/make_cookie_dough/problem0.bddl
@@ -34,7 +34,7 @@
         (inside raw_egg.n.01_1 bowl.n.01_2) 
         (inside raw_egg.n.01_2 bowl.n.01_2) 
         (inside bowl.n.01_2 electric_refrigerator.n.01_1) 
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (inside vanilla__bottle.n.01_1 electric_refrigerator.n.01_1) 
         (inside butter.n.01_1 bowl.n.01_1) 
         (ontop bowl.n.01_1 countertop.n.01_2)

diff --git a/bddl/activity_definitions/make_cookies/problem0.bddl b/bddl/activity_definitions/make_cookies/problem0.bddl
@@ -40,7 +40,7 @@
         (inside raw_egg.n.01_1 tupperware.n.01_1) 
         (inside raw_egg.n.01_2 tupperware.n.01_1) 
         (inside tupperware.n.01_1 electric_refrigerator.n.01_1) 
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (inside vanilla__bottle.n.01_1 cabinet.n.01_1) 
         (inside butter.n.01_1 butter__package.n.01_1) 
         (inside butter__package.n.01_1 electric_refrigerator.n.01_1)

diff --git a/bddl/activity_definitions/make_cream_soda/problem0.bddl b/bddl/activity_definitions/make_cream_soda/problem0.bddl
@@ -24,7 +24,7 @@
         (inside carafe.n.01_1 electric_refrigerator.n.01_1) 
         (filled cream__carton.n.01_1 heavy_cream.n.01_1) 
         (inside cream__carton.n.01_1 electric_refrigerator.n.01_1) 
-        (filled sugar_syrup__bottle.n.01_1 sugar_syrup.n.01_1) 
+        (insource sugar_syrup__bottle.n.01_1 sugar_syrup.n.01_1)
         (inside sugar_syrup__bottle.n.01_1 electric_refrigerator.n.01_1) 
         (inside ice_cube.n.01_1 cup.n.01_1) 
         (inside ice_cube.n.01_2 cup.n.01_1) 

diff --git a/bddl/activity_definitions/make_edible_chocolate_chip_cookie_dough/problem0.bddl b/bddl/activity_definitions/make_edible_chocolate_chip_cookie_dough/problem0.bddl
@@ -43,7 +43,7 @@
         (ontop brown_sugar__sack.n.01_1 countertop.n.01_1) 
         (insource salt__shaker.n.01_1 salt.n.02_1)
         (ontop salt__shaker.n.01_1 countertop.n.01_2)
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (inside vanilla__bottle.n.01_1 electric_refrigerator.n.01_1) 
         (filled sack.n.01_1 jimmies.n.01_1)
         (inside sack.n.01_1 cabinet.n.01_1)

diff --git a/bddl/activity_definitions/make_eggnog/problem0.bddl b/bddl/activity_definitions/make_eggnog/problem0.bddl
@@ -33,7 +33,7 @@
         (inside nutmeg__shaker.n.01_1 cabinet.n.01_1) 
         (insource cinnamon__shaker.n.01_1 cinnamon.n.03_1) 
         (inside cinnamon__shaker.n.01_1 cabinet.n.01_1) 
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (inside vanilla__bottle.n.01_1 cabinet.n.01_1) 
         (filled rum__bottle.n.01_1 rum.n.01_1) 
         (inside rum__bottle.n.01_1 electric_refrigerator.n.01_1) 

diff --git a/bddl/activity_definitions/make_fried_rice/problem0.bddl b/bddl/activity_definitions/make_fried_rice/problem0.bddl
@@ -31,7 +31,7 @@
             (cooked chili.n.02_1)
         )
         (insource salt__shaker.n.01_1 salt.n.02_1)
-        (filled soy_sauce__bottle.n.01_1 soy_sauce.n.01_1) 
+        (insource soy_sauce__bottle.n.01_1 soy_sauce.n.01_1)
         (inside chinese_anise.n.02_1 mason_jar.n.01_1) 
         (filled bowl.n.01_1 white_rice.n.01_1) 
         (inside bowl.n.01_1 cabinet.n.01_1) 

diff --git a/bddl/activity_definitions/make_hot_cocoa/problem0.bddl b/bddl/activity_definitions/make_hot_cocoa/problem0.bddl
@@ -34,7 +34,7 @@
         (inside marshmallow.n.01_2 sack.n.01_1) 
         (inside marshmallow.n.01_3 sack.n.01_1) 
         (inside sack.n.01_1 electric_refrigerator.n.01_1) 
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (inside vanilla__bottle.n.01_1 electric_refrigerator.n.01_1) 
         (ontop saucepan.n.01_1 countertop.n.01_2) 
         (ontop mug.n.04_1 countertop.n.01_2)

diff --git a/bddl/activity_definitions/make_iced_chocolate/problem0.bddl b/bddl/activity_definitions/make_iced_chocolate/problem0.bddl
@@ -33,7 +33,7 @@
         (inside milk__carton.n.01_1 electric_refrigerator.n.01_1) 
         (filled sugar__sack.n.01_1 granulated_sugar.n.01_1) 
         (ontop sugar__sack.n.01_1 countertop.n.01_1) 
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (inside vanilla__bottle.n.01_1 cabinet.n.01_1) 
         (ontop blender.n.01_1 countertop.n.01_2) 
         (ontop teaspoon.n.02_1 countertop.n.01_2) 

diff --git a/bddl/activity_definitions/make_meatloaf/problem0.bddl b/bddl/activity_definitions/make_meatloaf/problem0.bddl
@@ -37,7 +37,7 @@
         (ontop bowl.n.01_1 countertop.n.01_1) 
         (filled brown_sugar__sack.n.01_1 brown_sugar.n.01_1) 
         (inside brown_sugar__sack.n.01_1 cabinet.n.01_1) 
-        (filled catsup__bottle.n.01_1 catsup.n.01_1) 
+        (insource catsup__bottle.n.01_1 catsup.n.01_1)
         (inside catsup__bottle.n.01_1 electric_refrigerator.n.01_1) 
         (inroom oven.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen) 

diff --git a/bddl/activity_definitions/make_nachos/problem0.bddl b/bddl/activity_definitions/make_nachos/problem0.bddl
@@ -49,7 +49,7 @@
         (inside tupperware.n.01_2 electric_refrigerator.n.01_1) 
         (inside beefsteak_tomato.n.01_1 electric_refrigerator.n.01_1) 
         (inside green_onion.n.01_1 electric_refrigerator.n.01_1) 
-        (filled salsa__bottle.n.01_1 salsa.n.01_1) 
+        (insource salsa__bottle.n.01_1 salsa.n.01_1)
         (inside salsa__bottle.n.01_1 electric_refrigerator.n.01_1) 
         (inside avocado.n.01_1 electric_refrigerator.n.01_1) 
         (insource paprika__shaker.n.01_1 paprika.n.02_1) 

diff --git a/bddl/activity_definitions/make_tacos/problem0.bddl b/bddl/activity_definitions/make_tacos/problem0.bddl
@@ -35,7 +35,7 @@
         (inside sack.n.01_1 electric_refrigerator.n.01_1)
         (inside chili.n.02_1 electric_refrigerator.n.01_1) 
         (ontop vidalia_onion.n.01_1 countertop.n.01_1)
-        (filled salsa__bottle.n.01_1 salsa.n.01_1)
+        (insource salsa__bottle.n.01_1 salsa.n.01_1)
         (inside salsa__bottle.n.01_1 electric_refrigerator.n.01_1)
         (ontop tablespoon.n.02_1 platter.n.01_1)
         (ontop platter.n.01_1 chopping_board.n.01_1) 

diff --git a/bddl/activity_definitions/make_waffles/problem0.bddl b/bddl/activity_definitions/make_waffles/problem0.bddl
@@ -36,7 +36,7 @@
         (inside bowl.n.01_2 electric_refrigerator.n.01_1) 
         (inside butter.n.01_1 bowl.n.01_1) 
         (inside bowl.n.01_1 electric_refrigerator.n.01_1) 
-        (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
+        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
         (inside vanilla__bottle.n.01_1 cabinet.n.01_1) 
         (filled flour__sack.n.01_1 flour.n.01_1) 
         (ontop flour__sack.n.01_1 countertop.n.01_1)