compatibility/correctness/sim requirements edits

bddl/activity_definitions/cleaning_sneakers/problem0.bddl

@@ -6,7 +6,6 @@
         dust.n.01_1 - dust.n.01
      	gym_shoe.n.01_1 gym_shoe.n.01_2 gym_shoe.n.01_3 gym_shoe.n.01_4 - gym_shoe.n.01
         countertop.n.01_1 - countertop.n.01
-        bar_soap.n.01_1 - bar_soap.n.01
         cabinet.n.01_1 - cabinet.n.01
         towel.n.01_1 - towel.n.01
         scrub_brush.n.01_1 - scrub_brush.n.01
@@ -28,7 +27,6 @@
         (covered gym_shoe.n.01_3 dust.n.01_1) 
         (ontop gym_shoe.n.01_4 floor.n.01_2) 
         (covered gym_shoe.n.01_4 dust.n.01_1) 
-        (inside bar_soap.n.01_1 cabinet.n.01_1) 
         (ontop towel.n.01_1 countertop.n.01_1) 
         (not 
             (covered towel.n.01_1 stain.n.01_1)
@@ -51,9 +49,6 @@
 
     (:goal 
         (and 
-            (ontop ?towel.n.01_1 ?countertop.n.01_1) 
-            (inside ?bar_soap.n.01_1 ?sink.n.01_1) 
-            (nextto ?scrub_brush.n.01_1 ?towel.n.01_1)
             (forall 
                 (?gym_shoe.n.01 - gym_shoe.n.01) 
                 (not 

bddl/activity_definitions/cleaning_stove/problem0.bddl

@@ -5,10 +5,12 @@
         stain.n.01_1 - stain.n.01
         dust.n.01_1 - dust.n.01
      	stove.n.01_1 - stove.n.01
-    	bar_soap.n.01_1 - bar_soap.n.01
     	cabinet.n.01_1 - cabinet.n.01
     	rag.n.01_1 - rag.n.01
     	sink.n.01_1 - sink.n.01
+        water.n.06_1 - water.n.06
+        liquid_soap.n.01_1 - liquid_soap.n.01
+        liquid_soap__bottle.n.01_1 - liquid_soap__bottle.n.01
     	dishtowel.n.01_1 - dishtowel.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
@@ -17,9 +19,11 @@
     (:init 
         (covered stove.n.01_1 dust.n.01_1) 
         (covered stove.n.01_1 stain.n.01_1) 
-        (inside bar_soap.n.01_1 cabinet.n.01_1) 
         (inside rag.n.01_1 cabinet.n.01_1) 
         (inside dishtowel.n.01_1 cabinet.n.01_1) 
+        (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1)
+        (inside liquid_soap__bottle.n.01_1 cabinet.n.01_1)
+        (insource sink.n.01_1 water.n.06_1)
         (inroom sink.n.01_1 kitchen) 
         (inroom stove.n.01_1 kitchen) 
         (inroom cabinet.n.01_1 kitchen) 

bddl/activity_definitions/cleaning_up_after_a_meal/problem0.bddl

@@ -13,6 +13,7 @@
     	floor.n.01_1 floor.n.01_2 - floor.n.01
     	detergent.n.02_1 - detergent.n.02
     	detergent__bottle.n.01_1 - detergent__bottle.n.01
+        sponge.n.01_1 - sponge.n.01
     	dishwasher.n.01_1 - dishwasher.n.01
         sink.n.01_1 - sink.n.01
         water.n.06_1 - water.n.06
@@ -44,6 +45,7 @@
         (covered chair.n.01_1 stain.n.01_1)
         (covered chair.n.01_2 stain.n.01_1)
         (covered table.n.02_1 stain.n.01_1) 
+        (inside sponge.n.01_1 sink.n.01_1)
         (insource sink.n.01_1 water.n.06_1)
         (inroom dishwasher.n.01_1 kitchen) 
         (inroom floor.n.01_1 dining_room) 

bddl/activity_definitions/cleaning_up_refrigerator/problem0.bddl

@@ -6,27 +6,31 @@
         dust.n.01_1 - dust.n.01
      	rag.n.01_1 rag.n.01_2 - rag.n.01
     	cabinet.n.01_1 - cabinet.n.01
-    	bar_soap.n.01_1 - bar_soap.n.01
     	countertop.n.01_1 - countertop.n.01
     	tray.n.01_1 tray.n.01_2 - tray.n.01
     	electric_refrigerator.n.01_1 - electric_refrigerator.n.01
     	bowl.n.01_1 - bowl.n.01
     	sink.n.01_1 - sink.n.01
+        water.n.06_1 - water.n.06
+        liquid_soap.n.01_1 - liquid_soap.n.01
+        liquid_soap__bottle.n.01_1 - liquid_soap__bottle.n.01
         agent.n.01_1 - agent.n.01
         floor.n.01_1 - floor.n.01
     )
 
     (:init 
         (inside rag.n.01_1 cabinet.n.01_1) 
         (inside rag.n.01_2 cabinet.n.01_1) 
-        (ontop bar_soap.n.01_1 countertop.n.01_1) 
         (inside tray.n.01_1 electric_refrigerator.n.01_1) 
         (inside tray.n.01_2 electric_refrigerator.n.01_1) 
         (inside bowl.n.01_1 electric_refrigerator.n.01_1) 
         (covered tray.n.01_1 stain.n.01_1) 
         (covered tray.n.01_2 stain.n.01_1) 
         (covered bowl.n.01_1 dust.n.01_1) 
         (covered electric_refrigerator.n.01_1 stain.n.01_1) 
+        (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1)
+        (inside liquid_soap__bottle.n.01_1 cabinet.n.01_1)
+        (insource sink.n.01_1 water.n.06_1)
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom countertop.n.01_1 kitchen) 
         (inroom sink.n.01_1 kitchen) 
@@ -41,7 +45,6 @@
                 (?rag.n.01 - rag.n.01) 
                 (nextto ?rag.n.01 ?sink.n.01_1)
             ) 
-            (inside ?bar_soap.n.01_1 ?sink.n.01_1) 
             (forall 
                 (?tray.n.01 - tray.n.01) 
                 (inside ?tray.n.01 ?electric_refrigerator.n.01_1)

bddl/activity_definitions/clearing_table_after_breakfast/problem0.bddl

@@ -50,7 +50,7 @@
                         (?french_toast.n.01 - french_toast.n.01)
                         (ontop ?french_toast.n.01 ?plate.n.04)
                     )
-                    (inside ?electric_refrigerator.n.01_1 ?plate.n.04)
+                    (inside ?plate.n.04 ?electric_refrigerator.n.01_1)
                 )
             )
             (or 

bddl/activity_definitions/cook_beef_and_onions/problem0.bddl

@@ -11,7 +11,11 @@
         cooked__diced__green_onion.n.01_1 - cooked__diced__green_onion.n.01
         soy_sauce.n.01_1 - soy_sauce.n.01
         soy_sauce__bottle.n.01_1 - soy_sauce__bottle.n.01
+        cooked__soy_sauce.n.01_1 - cooked__soy_sauce.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
+        carving_knife.n.01_1 - carving_knife.n.01
+        platter.n.01_1 - platter.n.01
+        countertop.n.01_1 - countertop.n.01
         oven.n.01_1 - oven.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
@@ -33,12 +37,16 @@
         (not 
             (cooked green_onion.n.01_1)
         ) 
+        (ontop platter.n.01_1 countertop.n.01_1)
+        (ontop carving_knife.n.01_1 platter.n.01_1)
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom oven.n.01_1 kitchen) 
         (inroom floor.n.01_1 kitchen) 
+        (inroom countertop.n.01_1 kitchen)
         (future cooked__diced__vidalia_onion.n.01_1)
         (future cooked__diced__green_onion.n.01_1)
         (future cooked__diced__steak.n.01_1)
+        (future cooked__soy_sauce.n.01_1)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
@@ -47,10 +55,17 @@
             (real ?cooked__diced__steak.n.01_1)
             (real ?cooked__diced__green_onion.n.01_1)
             (real ?cooked__diced__vidalia_onion.n.01_1)
-            (contains ?wok.n.01_1 ?soy_sauce.n.01_1)
+            (or
+                (real ?cooked__soy_sauce.n.01_1)
+                (real ?soy_sauce.n.01_1)
+            )
             (contains ?wok.n.01_1 ?cooked__diced__vidalia_onion.n.01_1)
             (contains ?wok.n.01_1 ?cooked__diced__steak.n.01_1)
             (contains ?wok.n.01_1 ?cooked__diced__green_onion.n.01_1)
+            (or
+                (contains ?wok.n.01_1 ?cooked__soy_sauce.n.01_1)
+                (contains ?wok.n.01_1 ?soy_sauce.n.01_1)
+            )
         )
     )
 )

bddl/activity_definitions/cook_bok_choy/problem0.bddl

@@ -6,6 +6,7 @@
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
         butter.n.01_1 - butter.n.01
         clove.n.03_1 clove.n.03_2 clove.n.03_3 - clove.n.03
+        cooked__diced__clove.n.01_1 - cooked__diced__clove.n.01
         diced__clove.n.01_1 - diced__clove.n.01
         soy_sauce.n.01_1 - soy_sauce.n.01
         soy_sauce__bottle.n.01_1 - soy_sauce__bottle.n.01
@@ -14,6 +15,7 @@
         chopping_board.n.01_1 - chopping_board.n.01
         carving_knife.n.01_1 - carving_knife.n.01
         melted__butter.n.01_1 - melted__butter.n.01
+        cooked__melted__butter.n.01_1 - cooked__melted__butter.n.01
         countertop.n.01_1 - countertop.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
@@ -31,6 +33,8 @@
         (filled 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 cooked__melted__butter.n.01_1)
+        (future cooked__diced__clove.n.01_1)
         (future diced__clove.n.01_1)
         (ontop frying_pan.n.01_1 countertop.n.01_1)
         (ontop chopping_board.n.01_1 countertop.n.01_1)
@@ -44,11 +48,23 @@
 
     (:goal 
         (and 
-            (real ?melted__butter.n.01_1)
-            (real ?diced__clove.n.01_1)
+            (or
+                (real ?cooked__melted__butter.n.01_1)
+                (real ?melted__butter.n.01_1)
+            )
+            (or
+                (real ?cooked__diced__clove.n.01_1)
+                (real ?diced__clove.n.01_1)
+            )
             (inside ?bok_choy.n.02_1 ?frying_pan.n.01_1)
-            (contains ?frying_pan.n.01_1 ?melted__butter.n.01_1)
-            (contains ?frying_pan.n.01_1 ?diced__clove.n.01_1)
+            (or
+                (contains ?frying_pan.n.01_1 ?melted__butter.n.01_1)
+                (contains ?frying_pan.n.01_1 ?cooked__melted__butter.n.01_1)
+            )
+            (or
+                (contains ?frying_pan.n.01_1 ?diced__clove.n.01_1)
+                (contains ?frying_pan.n.01_1 ?cooked__diced__clove.n.01_1)
+            )
             (cooked ?bok_choy.n.02_1)
         )
     )

bddl/activity_definitions/cook_chicken/problem0.bddl

@@ -8,10 +8,12 @@
         oven.n.01_1 - oven.n.01
         stockpot.n.01_1 - stockpot.n.01
         clove.n.03_1 clove.n.03_2 clove.n.03_3 clove.n.03_4 - clove.n.03
-        diced__clove.n.01_1 - diced__clove.n.01
+        cooked__diced__clove.n.01_1 - cooked__diced__clove.n.01
+        cooked__chicken_broth.n.01_1 - cooked__chicken_broth.n.01
         bowl.n.01_1 - bowl.n.01
         chicken_broth.n.01_1 - chicken_broth.n.01
         chicken_broth__carton.n.01_1 - chicken_broth__carton.n.01
+        cooked__salt.n.01_1 - cooked__salt.n.01
         salt.n.02_1 - salt.n.02
         salt__shaker.n.01_1 - salt__shaker.n.01
         carving_knife.n.01_1 - carving_knife.n.01
@@ -43,18 +45,28 @@
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom cabinet.n.01_1 kitchen) 
         (future cooked__diced__chicken.n.01_1)
-        (future diced__clove.n.01_1)
+        (future cooked__diced__clove.n.01_1)
+        (future cooked__chicken_broth.n.01_1)
+        (future cooked__salt.n.01_1)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (real ?diced__clove.n.01_1)
+            (real ?cooked__diced__clove.n.01_1)
             (real ?cooked__diced__chicken.n.01_1)
-            (contains ?stockpot.n.01_1 ?chicken_broth.n.01_1)
-            (contains ?stockpot.n.01_1 ?diced__clove.n.01_1)
+            (real ?cooked__chicken_broth.n.01_1)
+            (or 
+                (real ?cooked__salt.n.01_1)
+                (real ?salt.n.02_1)
+            )
+            (contains ?stockpot.n.01_1 ?cooked__chicken_broth.n.01_1)
+            (contains ?stockpot.n.01_1 ?cooked__diced__clove.n.01_1)
             (contains ?stockpot.n.01_1 ?cooked__diced__chicken.n.01_1)
-            (contains ?stockpot.n.01_1 ?salt.n.02_1)
+            (or
+                (contains ?stockpot.n.01_1 ?salt.n.02_1)
+                (contains ?stockpot.n.01_1 ?cooked__salt.n.01_1)
+            )
         )
     )
 )

bddl/activity_definitions/cook_clams/problem0.bddl

@@ -7,8 +7,10 @@
         bowl.n.01_1 - bowl.n.01
         clam.n.03_1 clam.n.03_2 clam.n.03_3 - clam.n.03
         salt.n.02_1 - salt.n.02
+        cooked__salt.n.01_1 - cooked__salt.n.01
         salt__shaker.n.01_1 - salt__shaker.n.01
         lemon_juice.n.01_1 - lemon_juice.n.01
+        cooked__lemon_juice.n.01_1 - cooked__lemon_juice.n.01
         lemon_juice__bottle.n.01_1 - lemon_juice__bottle.n.01
         countertop.n.01_1 - countertop.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
@@ -35,6 +37,8 @@
         (ontop salt__shaker.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)
+        (future cooked__lemon_juice.n.01_1)
+        (future cooked__salt.n.01_1)
         (inroom stove.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom countertop.n.01_1 kitchen) 
@@ -44,12 +48,26 @@
 
     (:goal 
         (and 
+            (or
+                (real ?cooked__salt.n.01_1)
+                (real ?salt.n.02_1)
+            )
+            (or
+                (real ?cooked__lemon_juice.n.01_1)
+                (real ?lemon_juice.n.01_1)
+            )
             (forall 
                 (?clam.n.03 - clam.n.03)
                 (and
                     (cooked ?clam.n.03)
-                    (covered ?clam.n.03 ?salt.n.02_1)
-                    (covered ?clam.n.03 ?lemon_juice.n.01_1)
+                    (or
+                        (covered ?clam.n.03 ?salt.n.02_1)
+                        (covered ?clam.n.03 ?cooked__salt.n.01_1)
+                    )
+                    (or
+                        (covered ?clam.n.03 ?lemon_juice.n.01_1)
+                        (covered ?clam.n.03 ?cooked__lemon_juice.n.01_1)
+                    )
                 )
             )
         )

bddl/activity_definitions/cook_mussels/problem0.bddl

@@ -9,6 +9,7 @@
         salt.n.02_1 - salt.n.02
         marjoram.n.02_1 - marjoram.n.02
         marjoram__shaker.n.01_1 - marjoram__shaker.n.01
+        cooked__marjoram.n.01_1 - cooked__marjoram.n.01
         salt__shaker.n.01_1 - salt__shaker.n.01
         plate.n.04_1 - plate.n.04
         carving_knife.n.01_1 - carving_knife.n.01
@@ -84,6 +85,7 @@
         (inside plate.n.04_1 shelf.n.01_1) 
         (inside chopping_board.n.01_1 shelf.n.01_1) 
         (future seawater.n.01_1)
+        (future cooked__marjoram.n.01_1)
         (inroom sink.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom stove.n.01_1 kitchen) 
@@ -95,6 +97,10 @@
 
     (:goal 
         (and 
+            (or
+                (real ?marjoram.n.02_1)
+                (real ?cooked__marjoram.n.01_1)
+            )
             (real ?cooked__diced__beefsteak_tomato.n.01_1)
             (forall 
                 (?mussel.n.01 - mussel.n.01)
@@ -106,7 +112,10 @@
             (contains ?stockpot.n.01_1 ?cooked__diced__beefsteak_tomato.n.01_1)
             (real ?seawater.n.01_1)
             (contains ?stockpot.n.01_1 ?seawater.n.01_1)
-            (contains ?stockpot.n.01_1 ?marjoram.n.02_1)
+            (or
+                (contains ?stockpot.n.01_1 ?marjoram.n.02_1)
+                (contains ?stockpot.n.01_1 ?cooked__marjoram.n.01_1)
+            )
         )
     )
 )

bddl/activity_definitions/cook_onions/problem0.bddl

@@ -11,6 +11,7 @@
         spatula.n.01_1 - spatula.n.01
         olive_oil__bottle.n.01_1 - olive_oil__bottle.n.01
         olive_oil.n.01_1 - olive_oil.n.01
+        cooked__olive_oil.n.01_1 - cooked__olive_oil.n.01
         carving_knife.n.01_1 - carving_knife.n.01
         sink.n.01_1 - sink.n.01
         floor.n.01_1 - floor.n.01
@@ -32,6 +33,7 @@
         (inside olive_oil__bottle.n.01_1 cabinet.n.01_1) 
         (filled olive_oil__bottle.n.01_1 olive_oil.n.01_1) 
         (ontop carving_knife.n.01_1 chopping_board.n.01_1) 
+        (future cooked__olive_oil.n.01_1)
         (inroom sink.n.01_1 kitchen) 
         (inroom cabinet.n.01_1 kitchen) 
         (inroom stove.n.01_1 kitchen) 
@@ -43,8 +45,15 @@
     (:goal 
         (and 
             (real ?cooked__diced__vidalia_onion.n.01_1)
+            (or 
+                (real ?cooked__olive_oil.n.01_1)
+                (real ?olive_oil.n.01_1)
+            )
             (contains ?frying_pan.n.01_1 ?cooked__diced__vidalia_onion.n.01_1)
-            (contains ?frying_pan.n.01_1 ?olive_oil.n.01_1)
+            (or 
+                (contains ?frying_pan.n.01_1 ?olive_oil.n.01_1)
+                (contains ?frying_pan.n.01_1 ?cooked__olive_oil.n.01_1)
+            )
         )
     )
 )