Merge branch 'develop' into fix-particleapplier

StanfordVL · Mar 12, 2024 · 696b07b · 696b07b
2 parents 9345d5c + 8ff4c48
commit 696b07b
Show file tree

Hide file tree

Showing 36 changed files with 569 additions and 631 deletions.
diff --git a/bddl/activity_definitions/assembling_furniture/problem0.bddl b/bddl/activity_definitions/assembling_furniture/problem0.bddl
@@ -2,23 +2,31 @@
     (:domain omnigibson)
 
     (:objects
-        desk.n.01_1 - desk.n.01
+        desk_top.n.01_1 - desk_top.n.01
+        desk_bracket.n.01_1 - desk_bracket.n.01
+        desk_leg.n.01_1 desk_leg.n.01_2 desk_leg.n.01_3 desk_leg.n.01_4 - desk_leg.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init
-        (not
-            (assembled desk.n.01_1)
-        )
         (inroom floor.n.01_1 living_room)
-        (ontop desk.n.01_1 floor.n.01_1)
+        (ontop desk_top.n.01_1 floor.n.01_1)
+        (ontop desk_bracket.n.01_1 floor.n.01_1)
+        (ontop desk_leg.n.01_1 floor.n.01_1)
+        (ontop desk_leg.n.01_2 floor.n.01_1)
+        (ontop desk_leg.n.01_3 floor.n.01_1)
+        (ontop desk_leg.n.01_4 floor.n.01_1)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal
         (and
-            (assembled ?desk.n.01_1)
+            (attached ?desk_bracket.n.01_1 ?desk_top.n.01_1)
+            (forall 
+                (?desk_leg.n.01 - desk_leg.n.01)
+                (attached ?desk_leg.n.01 ?desk_bracket.n.01_1)
+            )
         )
     )
 )
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
@@ -11,7 +11,6 @@
         salt.n.02_1 - salt.n.02
         electric_mixer.n.01_1 - electric_mixer.n.01
         bowl.n.01_1 - bowl.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         sugar_cookie.n.01_1 sugar_cookie.n.01_2 sugar_cookie.n.01_3 sugar_cookie.n.01_4 sugar_cookie.n.01_5 sugar_cookie.n.01_6 - sugar_cookie.n.01
         oven.n.01_1 - oven.n.01
         cookie_sheet.n.01_1 - cookie_sheet.n.01
@@ -45,7 +44,6 @@
         (insource salt__shaker.n.01_1 salt.n.02_1)
         (ontop salt__shaker.n.01_1 countertop.n.01_1)
         (ontop electric_mixer.n.01_1 countertop.n.01_1) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (inroom oven.n.01_1 kitchen) 
         (inroom countertop.n.01_1 kitchen)
         (inside bowl.n.01_1 electric_refrigerator.n.01_1) 

diff --git a/bddl/activity_definitions/baking_sugar_cookies/problem0.bddl b/bddl/activity_definitions/baking_sugar_cookies/problem0.bddl
@@ -10,7 +10,6 @@
         sodium_carbonate.n.01_1 - sodium_carbonate.n.01
         baking_powder.n.01_1 - baking_powder.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         sugar_cookie.n.01_1 sugar_cookie.n.01_2 sugar_cookie.n.01_3 sugar_cookie.n.01_4 sugar_cookie.n.01_5 sugar_cookie.n.01_6 - sugar_cookie.n.01
         oven.n.01_1 - oven.n.01
         cookie_sheet.n.01_1 - cookie_sheet.n.01
@@ -48,7 +47,6 @@
         (filled baking_powder__jar.n.01_1 baking_powder.n.01_1)
         (ontop baking_powder__jar.n.01_1 countertop.n.01_2)
         (ontop electric_mixer.n.01_1 countertop.n.01_2)
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1)
         (inroom oven.n.01_1 kitchen)
         (inroom countertop.n.01_1 kitchen)
         (inroom countertop.n.01_2 kitchen)

diff --git a/bddl/activity_definitions/domain_omnigibson.bddl b/bddl/activity_definitions/domain_omnigibson.bddl
@@ -26,7 +26,6 @@
         (insource ?obj1 ?obj2)
         (inroom ?obj1 ?obj2)
         (broken ?obj1)
-        (assembled ?obj1)
         (grasped ?obj1 ?obj2)
     )
 )
diff --git a/bddl/activity_definitions/make_a_cheese_pastry/problem0.bddl b/bddl/activity_definitions/make_a_cheese_pastry/problem0.bddl
@@ -11,7 +11,6 @@
         flour.n.01_1 - flour.n.01
         flour__sack.n.01_1 - flour__sack.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         cheese_tart.n.01_1 cheese_tart.n.01_2 cheese_tart.n.01_3 cheese_tart.n.01_4 cheese_tart.n.01_5 cheese_tart.n.01_6 - cheese_tart.n.01
         oven.n.01_1 - oven.n.01
         cookie_sheet.n.01_1 - cookie_sheet.n.01
@@ -49,7 +48,6 @@
         (insource salt__shaker.n.01_1 salt.n.02_1)
         (ontop salt__shaker.n.01_1 countertop.n.01_2)
         (ontop electric_mixer.n.01_1 countertop.n.01_2) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (inside butter.n.01_1 butter__package.n.01_1) 
         (inside butter__package.n.01_1 electric_refrigerator.n.01_1) 
         (ontop food_processor.n.01_1 countertop.n.01_2) 

diff --git a/bddl/activity_definitions/make_a_clothes_line/problem0.bddl b/bddl/activity_definitions/make_a_clothes_line/problem0.bddl
@@ -2,25 +2,26 @@
     (:domain omnigibson)
 
     (:objects
-        cabinet.n.01_1 - cabinet.n.01
-        clothesline.n.01_1 - clothesline.n.01
+        clothesline_rope.n.01_1 - clothesline_rope.n.01
+        pole.n.01_1 pole.n.01_2 - pole.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
-        (ontop clothesline.n.01_1 floor.n.01_1) 
-        (not 
-            (assembled clothesline.n.01_1)
-        )
-        (inroom cabinet.n.01_1 utility_room) 
+        (inroom pole.n.01_1 garden)
+        (inroom pole.n.01_2 garden)
         (inroom floor.n.01_1 utility_room) 
+        (ontop clothesline_rope.n.01_1 floor.n.01_1) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (assembled ?clothesline.n.01_1)
+            (exists
+                (?pole.n.01 - pole.n.01)
+                (attached ?clothesline_rope.n.01_1 ?pole.n.01_1)
+            )
         )
     )
 )
diff --git a/bddl/activity_definitions/make_a_sugar_and_coffee_scrub/problem0.bddl b/bddl/activity_definitions/make_a_sugar_and_coffee_scrub/problem0.bddl
@@ -9,7 +9,6 @@
     	mason_jar.n.01_1 - mason_jar.n.01
     	coconut_oil.n.01_1 - coconut_oil.n.01
     	coconut_oil__jar.n.01_1 - coconut_oil__jar.n.01
-    	mixing_bowl.n.01_1 - mixing_bowl.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
         sugar_coffee_scrub.n.01_1 - sugar_coffee_scrub.n.01
     	floor.n.01_1 - floor.n.01
@@ -25,7 +24,6 @@
         (ontop mason_jar.n.01_1 countertop.n.01_1) 
         (filled coconut_oil__jar.n.01_1 coconut_oil.n.01_1) 
         (ontop coconut_oil__jar.n.01_1 countertop.n.01_1) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (ontop electric_mixer.n.01_1 countertop.n.01_1) 
         (inroom countertop.n.01_1 kitchen) 
         (inroom floor.n.01_1 kitchen) 
@@ -36,7 +34,7 @@
     (:goal 
         (and 
             (real ?sugar_coffee_scrub.n.01_1)
-            (contains ?mixing_bowl.n.01_1 ?sugar_coffee_scrub.n.01_1)
+            (contains ?electric_mixer.n.01_1 ?sugar_coffee_scrub.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/make_a_tropical_breakfast/problem0.bddl b/bddl/activity_definitions/make_a_tropical_breakfast/problem0.bddl
@@ -13,7 +13,6 @@
         raspberry.n.02_1 - raspberry.n.02
         chia_seed.n.01_1 - chia_seed.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         yogurt__carton.n.01_1 - yogurt__carton.n.01
         maple_syrup__jar.n.01_1 - maple_syrup__jar.n.01
         chia_seed__bag.n.01_1 - chia_seed__bag.n.01
@@ -37,7 +36,6 @@
         (ontop carving_knife.n.01_1 chopping_board.n.01_1) 
         (ontop chopping_board.n.01_1 countertop.n.01_2) 
         (ontop electric_mixer.n.01_1 countertop.n.01_2) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (future diced__mango.n.01_1) 
         (future diced__kiwi.n.01_1) 
         (inroom floor.n.01_1 kitchen) 
@@ -52,11 +50,11 @@
         (and 
             (real ?diced__mango.n.01_1) 
             (real ?diced__kiwi.n.01_1) 
-            (contains ?mixing_bowl.n.01_1 ?yogurt.n.01_1) 
-            (contains ?mixing_bowl.n.01_1 ?maple_syrup.n.01_1) 
-            (contains ?mixing_bowl.n.01_1 ?diced__mango.n.01_1) 
-            (contains ?mixing_bowl.n.01_1 ?chia_seed.n.01_1) 
-            (ontop ?mixing_bowl.n.01_1 ?raspberry.n.02_1)
+            (contains ?electric_mixer.n.01_1 ?yogurt.n.01_1) 
+            (contains ?electric_mixer.n.01_1 ?maple_syrup.n.01_1) 
+            (contains ?electric_mixer.n.01_1 ?diced__mango.n.01_1) 
+            (contains ?electric_mixer.n.01_1 ?chia_seed.n.01_1) 
+            (ontop ?raspberry.n.02_1 ?electric_mixer.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/make_bagels/problem0.bddl b/bddl/activity_definitions/make_bagels/problem0.bddl
@@ -8,7 +8,6 @@
         yeast.n.01_1 - yeast.n.01
         water.n.06_1 - water.n.06
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         bagel.n.01_1 bagel.n.01_2 bagel.n.01_3 bagel.n.01_4 - bagel.n.01
         raw_egg.n.01_1 - raw_egg.n.01
         sesame_seed.n.01_1 - sesame_seed.n.01
@@ -40,7 +39,6 @@
         (ontop yeast__jar.n.01_1 countertop.n.01_1) 
         (insource sink.n.01_1 water.n.06_1) 
         (ontop electric_mixer.n.01_1 countertop.n.01_2) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (inside raw_egg.n.01_1 bowl.n.01_1) 
         (insource sesame_seed__shaker.n.01_1 sesame_seed.n.01_1) 
         (ontop sesame_seed__shaker.n.01_1 countertop.n.01_3) 

diff --git a/bddl/activity_definitions/make_biscuits/problem0.bddl b/bddl/activity_definitions/make_biscuits/problem0.bddl
@@ -8,7 +8,6 @@
         shortening.n.01_1 - shortening.n.01
         whole_milk.n.01_1 - whole_milk.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         biscuit.n.01_1 biscuit.n.01_2 biscuit.n.01_3 biscuit.n.01_4 biscuit.n.01_5 biscuit.n.01_6 - biscuit.n.01
         oven.n.01_1 - oven.n.01
         cookie_sheet.n.01_1 - cookie_sheet.n.01
@@ -38,7 +37,6 @@
         (inside milk__carton.n.01_1 electric_refrigerator.n.01_1) 
         (ontop electric_mixer.n.01_1 countertop.n.01_1) 
         (ontop tablespoon.n.02_1 countertop.n.01_1) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (ontop cookie_sheet.n.01_1 countertop.n.01_1) 
         (inroom oven.n.01_1 kitchen) 
         (inroom countertop.n.01_1 kitchen) 

diff --git a/bddl/activity_definitions/make_blueberry_mousse/problem0.bddl b/bddl/activity_definitions/make_blueberry_mousse/problem0.bddl
@@ -13,7 +13,6 @@
         whipped_cream.n.01_1 - whipped_cream.n.01
         blueberry_mousse.n.01_1 - blueberry_mousse.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         bowl.n.01_1 - bowl.n.01
         tupperware.n.01_1 - tupperware.n.01
         sugar__sack.n.01_1 - sugar__sack.n.01
@@ -45,7 +44,6 @@
         (insource whipped_cream__atomizer.n.01_1 whipped_cream.n.01_1) 
         (inside whipped_cream__atomizer.n.01_1 electric_refrigerator.n.01_1) 
         (ontop electric_mixer.n.01_1 countertop.n.01_2) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (ontop teaspoon.n.02_1 countertop.n.01_2) 
         (inroom stove.n.01_1 kitchen) 
         (inroom countertop.n.01_1 kitchen) 
@@ -59,7 +57,7 @@
     (:goal 
         (and 
             (real ?blueberry_mousse.n.01_1) 
-            (contains ?mixing_bowl.n.01_1 ?blueberry_mousse.n.01_1)
+            (contains ?electric_mixer.n.01_1 ?blueberry_mousse.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/make_cabinet_doors/problem0.bddl b/bddl/activity_definitions/make_cabinet_doors/problem0.bddl
@@ -2,23 +2,22 @@
     (:domain omnigibson)
 
     (:objects
-        cabinet.n.01_1 - cabinet.n.01
+        cabinet_base.n.01_1 - cabinet_base.n.01
+        cabinet_door.n.01_1 - cabinet_door.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
-        (not 
-            (assembled cabinet.n.01_1)
-        ) 
         (inroom floor.n.01_1 living_room) 
-        (inroom cabinet.n.01_1 living_room) 
+        (ontop cabinet_base.n.01_1 floor.n.01_1) 
+        (ontop cabinet_door.n.01_1 floor.n.01_1) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (assembled ?cabinet.n.01_1)
+            (attached ?cabinet_door.n.01_1 ?cabinet_base.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/make_chocolate_biscuits/problem0.bddl b/bddl/activity_definitions/make_chocolate_biscuits/problem0.bddl
@@ -9,7 +9,6 @@
         cocoa_powder.n.01_1 - cocoa_powder.n.01
         chocolate_bar.n.01_1 - chocolate_bar.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         chocolate_biscuit.n.01_1 chocolate_biscuit.n.01_2 chocolate_biscuit.n.01_3 chocolate_biscuit.n.01_4 chocolate_biscuit.n.01_5 chocolate_biscuit.n.01_6 - chocolate_biscuit.n.01
         oven.n.01_1 - oven.n.01
         cookie_sheet.n.01_1 - cookie_sheet.n.01
@@ -38,7 +37,6 @@
         (filled cocoa__box.n.01_1 cocoa_powder.n.01_1) 
         (ontop cocoa__box.n.01_1 countertop.n.01_2) 
         (ontop electric_mixer.n.01_1 countertop.n.01_2) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (inside chocolate_bar.n.01_1 electric_refrigerator.n.01_1) 
         (inside bowl.n.01_1 electric_refrigerator.n.01_1) 
         (inroom electric_refrigerator.n.01_1 kitchen) 

diff --git a/bddl/activity_definitions/make_cookie_dough/problem0.bddl b/bddl/activity_definitions/make_cookie_dough/problem0.bddl
@@ -11,7 +11,6 @@
         salt.n.02_1 - salt.n.02
         sugar_cookie_dough.n.01_1 - sugar_cookie_dough.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         flour__sack.n.01_1 - flour__sack.n.01
         sugar__sack.n.01_1 - sugar__sack.n.01
         bowl.n.01_1 bowl.n.01_2 - bowl.n.01
@@ -43,7 +42,6 @@
         (insource salt__shaker.n.01_1 salt.n.02_1)
         (ontop salt__shaker.n.01_1 countertop.n.01_2)
         (ontop electric_mixer.n.01_1 countertop.n.01_2) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom cabinet.n.01_1 kitchen) 
         (inroom countertop.n.01_1 kitchen) 
@@ -60,7 +58,7 @@
                 (cooked ?sugar_cookie_dough.n.01_1)
             ) 
             (real ?sugar_cookie_dough.n.01_1) 
-            (inside ?sugar_cookie_dough.n.01_1 ?mixing_bowl.n.01_1)
+            (inside ?sugar_cookie_dough.n.01_1 ?electric_mixer.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/make_cookies/problem0.bddl b/bddl/activity_definitions/make_cookies/problem0.bddl
@@ -14,7 +14,6 @@
         cinnamon__shaker.n.01_1 - cinnamon__shaker.n.01
         nutmeg__shaker.n.01_1 - nutmeg__shaker.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         spice_cookie.n.01_1 spice_cookie.n.01_2 spice_cookie.n.01_3 spice_cookie.n.01_4 spice_cookie.n.01_5 spice_cookie.n.01_6 - spice_cookie.n.01
         oven.n.01_1 - oven.n.01
         cookie_sheet.n.01_1 - cookie_sheet.n.01
@@ -53,7 +52,6 @@
         (insource nutmeg__shaker.n.01_1 nutmeg.n.02_1) 
         (inside nutmeg__shaker.n.01_1 cabinet.n.01_1) 
         (ontop electric_mixer.n.01_1 countertop.n.01_1) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (inroom oven.n.01_1 kitchen) 
         (inroom countertop.n.01_1 kitchen) 
         (inroom cabinet.n.01_1 kitchen) 

diff --git a/bddl/activity_definitions/make_cream_from_milk/problem0.bddl b/bddl/activity_definitions/make_cream_from_milk/problem0.bddl
@@ -6,7 +6,6 @@
         melted__butter.n.01_1 - melted__butter.n.01
         heavy_cream.n.01_1 - heavy_cream.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         bowl.n.01_1 - bowl.n.01
         cabinet.n.01_1 - cabinet.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
@@ -21,7 +20,6 @@
         (filled bowl.n.01_1 melted__butter.n.01_1) 
         (inside bowl.n.01_1 electric_refrigerator.n.01_1) 
         (inside electric_mixer.n.01_1 cabinet.n.01_1) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom cabinet.n.01_1 kitchen) 
         (future heavy_cream.n.01_1) 
@@ -32,7 +30,7 @@
     (:goal 
         (and 
             (real ?heavy_cream.n.01_1) 
-            (contains ?mixing_bowl.n.01_1 ?heavy_cream.n.01_1)
+            (contains ?electric_mixer.n.01_1 ?heavy_cream.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/make_dinner_rolls/problem0.bddl b/bddl/activity_definitions/make_dinner_rolls/problem0.bddl
@@ -9,7 +9,6 @@
         butter.n.01_1 - butter.n.01
         whole_milk.n.01_1 - whole_milk.n.01
         electric_mixer.n.01_1 - electric_mixer.n.01
-        mixing_bowl.n.01_1 - mixing_bowl.n.01
         bap.n.01_1 bap.n.01_2 bap.n.01_3 bap.n.01_4 - bap.n.01
         oven.n.01_1 - oven.n.01
         cookie_sheet.n.01_1 - cookie_sheet.n.01
@@ -40,7 +39,6 @@
         (filled milk__carton.n.01_1 whole_milk.n.01_1) 
         (inside milk__carton.n.01_1 electric_refrigerator.n.01_1) 
         (ontop electric_mixer.n.01_1 countertop.n.01_1) 
-        (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (inroom oven.n.01_1 kitchen) 
         (inroom countertop.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen)