Merge pull request #262 from StanfordVL/only-scene-object-inroom

only scene objects are allowed to have inroom predicate in bddls

bddl/activity_definitions/changing_light_bulbs/problem0.bddl

@@ -29,8 +29,8 @@
             (attached light_bulb.n.01_2 table_lamp.n.01_2)
         )
         (inroom floor.n.01_1 bedroom) 
-        (inroom floor.n.01_2 dining_room) 
-        (inroom table_lamp.n.01_1 bedroom) 
+        (inroom floor.n.01_2 dining_room)
+        (ontop table_lamp.n.01_1 breakfast_table.n.01_1)
         (inroom breakfast_table.n.01_1 dining_room) 
         (ontop agent.n.01_1 floor.n.01_2)
     )

bddl/activity_definitions/clean_a_computer_monitor/problem0.bddl

@@ -7,6 +7,7 @@
         monitor.n.04_1 - monitor.n.04
         dust.n.01_1 - dust.n.01
         water.n.06_1 - water.n.06
+        table.n.02_1 - table.n.02
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
@@ -16,7 +17,8 @@
         (insource sink.n.01_1 water.n.06_1)
         (covered monitor.n.04_1 dust.n.01_1)  
         (inroom sink.n.01_1 bathroom) 
-        (inroom monitor.n.04_1 computer_lab) 
+        (inroom table.n.02_1 computer_lab)
+        (ontop monitor.n.04_1 table.n.02_1)
         (inroom floor.n.01_1 computer_lab) 
         (ontop agent.n.01_1 floor.n.01_1)
     )

bddl/activity_definitions/clean_a_flat_panel_monitor/problem0.bddl

@@ -11,6 +11,7 @@
         stain.n.01_1 - stain.n.01
         water.n.06_1 - water.n.06
         floor.n.01_1 - floor.n.01
+        table.n.02_1 - table.n.02
         agent.n.01_1 - agent.n.01
     )
 
@@ -21,8 +22,9 @@
         (covered monitor.n.04_1 dust.n.01_1)
         (covered monitor.n.04_1 stain.n.01_1) 
         (insource sink.n.01_1 water.n.06_1) 
-        (inroom sink.n.01_1 bathroom) 
-        (inroom monitor.n.04_1 shared_office) 
+        (inroom sink.n.01_1 bathroom)
+        (ontop monitor.n.04_1 table.n.02_1)
+        (inroom table.n.02_1 shared_office)
         (inroom floor.n.01_1 shared_office) 
         (ontop agent.n.01_1 floor.n.01_1)
     )

bddl/activity_definitions/clean_cement/problem0.bddl

@@ -17,8 +17,7 @@
     (:init 
         (ontop cement.n.01_1 floor.n.01_1)
         (covered cement.n.01_1 dirt.n.02_1)
-        (ontop rail_fence.n.01_1 floor.n.01_1) 
-        (ontop watering_can.n.01_1 floor.n.01_1) 
+        (ontop watering_can.n.01_1 floor.n.01_1)
         (ontop scrub_brush.n.01_1 floor.n.01_1) 
         (insource watering_can.n.01_1 water.n.06_1) 
         (filled detergent__bottle.n.01_1 detergent.n.02_1) 

bddl/activity_definitions/cleaning_patio_furniture/problem0.bddl

@@ -20,8 +20,7 @@
         (ontop lawn_chair.n.01_2 floor.n.01_1)
         (ontop lawn_chair.n.01_3 floor.n.01_1)
         (ontop lawn_chair.n.01_4 floor.n.01_1)
-        (ontop coffee_table.n.01_1 floor.n.01_1) 
-        (ontop bucket.n.01_1 coffee_table.n.01_1) 
+        (ontop bucket.n.01_1 coffee_table.n.01_1)
         (filled bucket.n.01_1 water.n.06_1) 
         (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1)
         (ontop liquid_soap__bottle.n.01_1 coffee_table.n.01_1)

bddl/activity_definitions/cleaning_the_yard/problem0.bddl

@@ -14,7 +14,6 @@
     )
 
     (:init 
-        (ontop rail_fence.n.01_1 floor.n.01_1) 
         (ontop scrub.n.01_1 lawn.n.01_1)
         (ontop entire_leaf.n.01_1 lawn.n.01_1) 
         (ontop ashcan.n.01_1 lawn.n.01_1) 

bddl/activity_definitions/decorating_outside_for_holidays/problem0.bddl

@@ -18,7 +18,6 @@
         (ontop wreath.n.01_1 coffee_table.n.01_1) 
         (ontop holly.n.03_1 coffee_table.n.01_1)
         (ontop bow.n.08_1 coffee_table.n.01_1) 
-        (ontop wall.n.01_1 floor.n.01_1) 
         (not
             (attached wreath.n.01_1 wall.n.01_1) 
         )

bddl/activity_definitions/prepare_make_ahead_breakfast_bowls/problem0.bddl

@@ -38,8 +38,7 @@
         (inside egg.n.02_2 tupperware.n.01_1) 
         (filled olive_oil__bottle.n.01_1 olive_oil.n.01_1) 
         (ontop olive_oil__bottle.n.01_1 countertop.n.01_1)
-        (inside cabinet.n.01_1 countertop.n.01_1) 
-        (inside bowl.n.01_1 cabinet.n.01_1) 
+        (inside bowl.n.01_1 cabinet.n.01_1)
         (inside bowl.n.01_2 cabinet.n.01_1) 
         (inside frying_pan.n.01_1 cabinet.n.01_1) 
         (inside tupperware.n.01_1 electric_refrigerator.n.01_1) 

bddl/activity_definitions/remove_a_wall_mirror/problem0.bddl

@@ -12,7 +12,6 @@
         (attached mirror.n.01_1 wall.n.01_1) 
         (inroom floor.n.01_1 bathroom)
         (inroom wall.n.01_1 bathroom)
-        (inroom mirror.n.01_1 bathroom)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 

bddl/activity_definitions/set_up_a_preschool_classroom/problem0.bddl

@@ -16,7 +16,6 @@
         blackboard.n.01_1 - blackboard.n.01
         table.n.02_1 table.n.02_10 table.n.02_2 table.n.02_3 table.n.02_4 table.n.02_5 table.n.02_6 table.n.02_7 table.n.02_8 table.n.02_9 - table.n.02
         wall_clock.n.01_1 - wall_clock.n.01
-        map.n.01_1 - map.n.01
         chair.n.01_1 chair.n.01_10 chair.n.01_2 chair.n.01_3 chair.n.01_4 chair.n.01_5 chair.n.01_6 chair.n.01_7 chair.n.01_8 chair.n.01_9 - chair.n.01
         agent.n.01_1 - agent.n.01
     )
@@ -58,7 +57,6 @@
         (inroom table.n.02_9 classroom) 
         (inroom table.n.02_10 classroom) 
         (inroom wall_clock.n.01_1 classroom) 
-        (inroom map.n.01_1 classroom) 
         (inroom chair.n.01_1 classroom)
         (inroom chair.n.01_2 classroom)
         (inroom chair.n.01_3 classroom)

bddl/activity_definitions/stock_a_bar_cart/problem0.bddl

@@ -33,7 +33,6 @@
         (ontop serving_cart.n.01_1 floor.n.01_1)
         (inroom shelf.n.01_1 kitchen)
         (inroom cabinet.n.01_1 kitchen)
-        (inroom serving_cart.n.01_1 kitchen)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 

bddl/activity_definitions/tidying_up_wardrobe/problem0.bddl

@@ -22,7 +22,7 @@
         (inside belt.n.02_1 wicker_basket.n.01_1)
         (inside underwear.n.01_1 wicker_basket.n.01_1) 
         (inside scarf.n.01_1 wicker_basket.n.01_1) 
-        (inroom wicker_basket.n.01_1 closet) 
+        (ontop wicker_basket.n.01_1 floor.n.01_1)
         (inroom wardrobe.n.01_1 closet) 
         (inroom floor.n.01_1 closet) 
         (ontop agent.n.01_1 floor.n.01_1)

bddl/bddl_verification.py

@@ -323,7 +323,8 @@ def check_synset_predicate_alignment(atom, syns_to_props):
         assert ("drapeable" in syns_to_props[objects[0]]) and ("rigidBody" in syns_to_props[objects[1]]), f"Inapplicable overlaid: {atom}"
     if pred == "insource": 
         assert (("particleSource" in syns_to_props[objects[0]]) or ("particleApplier" in syns_to_props[objects[0]])) and ("substance" in syns_to_props[objects[1]]), f"Inapplicable insource: {atom}"
-
+    if pred == "inroom":
+        assert "sceneObject" in syns_to_props[objects[0]], f"Inapplicable inroom: {atom}"
 
 def check_clashing_transition_rules():
     # Check within each submap
@@ -477,6 +478,7 @@ def all_objects_placed(init):
 
     in_room_check = True
     last_placed = None
+    in_room_placed = set()
     while True:
         newly_placed = set()
         for literal in init:
@@ -493,10 +495,12 @@ def all_objects_placed(init):
                 # For the first round, check for inroom
                 if (formula[0] == "inroom") and (formula[2] in ROOMS):
                     inst = formula[1]
+                    in_room_placed.add(inst)
             else:
                 # For the following rounds, check for placements w.r.t last placed objects
                 if (formula[0] in PLACEMENTS) and (formula[2] in last_placed):
                     inst = formula[1]
+                    assert inst not in in_room_placed, f"Object {inst} is placed twice"
                 # Or substasnce placements w.r.t last placed objects
                 elif (formula[0] in SUBSTANCE_PLACEMENTS) and (formula[1] in last_placed):
                     inst = formula[2]