Merge pull request #267 from StanfordVL/update-assembled

Update assembled tasks and remove assembled predicate

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)
+            )
         )
     )
 )

bddl/activity_definitions/domain_omnigibson.bddl

@@ -26,7 +26,6 @@
         (insource ?obj1 ?obj2)
         (inroom ?obj1 ?obj2)
         (broken ?obj1)
-        (assembled ?obj1)
         (grasped ?obj1 ?obj2)
     )
 )

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)
+            )
         )
     )
 )

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)
         )
     )
 )

bddl/activity_definitions/putting_up_shelves/problem0.bddl

@@ -2,29 +2,45 @@
     (:domain omnigibson)
 
     (:objects
-     	shelf.n.01_1 shelf.n.01_2 - shelf.n.01
+     	shelf_back.n.01_1 - shelf_back.n.01
+     	shelf_side.n.01_1 shelf_side.n.01_2 - shelf_side.n.01
+        shelf_shelf.n.01_1 shelf_shelf.n.01_2 shelf_shelf.n.01_3 shelf_shelf.n.01_4 shelf_shelf.n.01_5 shelf_shelf.n.01_6 - shelf_shelf.n.01
+        shelf_top.n.01_1 - shelf_top.n.01
+        shelf_baseboard.n.01_1 - shelf_baseboard.n.01
     	floor.n.01_1 - floor.n.01
     	agent.n.01_1 - agent.n.01
     )
 
     (:init 
-        (not 
-            (assembled shelf.n.01_1)
-        ) 
-        (not 
-            (assembled shelf.n.01_2)
-        ) 
         (inroom floor.n.01_1 bathroom) 
-        (inroom shelf.n.01_1 bathroom) 
-        (inroom shelf.n.01_2 bathroom) 
         (ontop agent.n.01_1 floor.n.01_1)
+        (ontop shelf_back.n.01_1 floor.n.01_1)
+        (ontop shelf_side.n.01_1 floor.n.01_1)
+        (ontop shelf_side.n.01_2 floor.n.01_1)
+        (ontop shelf_shelf.n.01_1 floor.n.01_1)
+        (ontop shelf_shelf.n.01_2 floor.n.01_1)
+        (ontop shelf_shelf.n.01_3 floor.n.01_1)
+        (ontop shelf_shelf.n.01_4 floor.n.01_1)
+        (ontop shelf_shelf.n.01_5 floor.n.01_1)
+        (ontop shelf_shelf.n.01_6 floor.n.01_1)
+        (ontop shelf_top.n.01_1 floor.n.01_1)
+        (ontop shelf_baseboard.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (forall 
-                (?shelf.n.01 - shelf.n.01)
-                (assembled ?shelf.n.01)
+            (forall
+                (?shelf_shelf.n.01 - shelf_shelf.n.01)
+                (attached ?shelf_shelf.n.01 ?shelf_back.n.01_1)
+            )
+            (forall
+                (?shelf_side.n.01 - shelf_side.n.01)
+                (attached ?shelf_side.n.01 ?shelf_back.n.01_1)
+            )
+            (attached ?shelf_top.n.01_1 ?shelf_back.n.01_1)
+            (exists
+                (?shelf_side.n.01 - shelf_side.n.01)
+                (attached ?shelf_baseboard.n.01_1 ?shelf_side.n.01)
             )
         )
     )

bddl/activity_definitions/setup_a_trampoline/problem0.bddl

@@ -2,23 +2,28 @@
     (:domain omnigibson)
 
     (:objects
-        trampoline.n.01_1 - trampoline.n.01
+        trampoline_top.n.01_1 - trampoline_top.n.01
+        trampoline_leg.n.01_1 trampoline_leg.n.01_2 trampoline_leg.n.01_3 trampoline_leg.n.01_4 - trampoline_leg.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
-        (not
-            (assembled trampoline.n.01_1) 
-        )
-        (ontop trampoline.n.01_1 floor.n.01_1) 
+        (ontop trampoline_top.n.01_1 floor.n.01_1) 
+        (ontop trampoline_leg.n.01_1 floor.n.01_1) 
+        (ontop trampoline_leg.n.01_2 floor.n.01_1) 
+        (ontop trampoline_leg.n.01_3 floor.n.01_1) 
+        (ontop trampoline_leg.n.01_4 floor.n.01_1) 
         (inroom floor.n.01_1 garden) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (assembled ?trampoline.n.01_1)
+            (forall 
+                (?trampoline_leg.n.01 - trampoline_leg.n.01)
+                (attached ?trampoline_leg.n.01 ?trampoline_top.n.01_1)
+            )
         )
     )
 )

bddl/bddl_verification.py

@@ -81,8 +81,13 @@
     ("skateboard_wheel.n.01", "skateboard_deck.n.01"),
     ("shelf_shelf.n.01", "shelf_back.n.01"),
     ("shelf_side.n.01", "shelf_back.n.01"),
-    ("shelf_baseboard.n.01", "shelf_back.n.01"),
+    ("shelf_baseboard.n.01", "shelf_side.n.01"),
     ("shelf_top.n.01", "shelf_back.n.01"),
+    ("desk_leg.n.01", "desk_bracket.n.01"),
+    ("desk_bracket.n.01", "desk_top.n.01"),
+    ("trampoline_leg.n.01", "trampoline_top.n.01"),
+    ("clothesline_rope.n.01", "pole.n.01"),
+    ("cabinet_door.n.01", "cabinet_base.n.01"),
 ])
 
 VALID_ROOMS = set()
@@ -293,9 +298,6 @@ def check_synset_predicate_alignment(atom, syns_to_props):
     if pred == "on_fire":
         assert "nonSubstance" in syns_to_props[objects[0]], f"Inapplicable on_fire: {atom}"
         assert "flammable" in syns_to_props[objects[0]], f"Inapplicable on_fire: {atom}"
-    if pred == "assembled":
-        assert "rigidBody" in syns_to_props[objects[0]], f"Inapplicable assembled: {atom}"
-        assert "assembleable" in syns_to_props[objects[0]], f"Inapplicable assembled: {atom}"
     if pred == "broken":
         assert "rigidBody" in syns_to_props[objects[0]], f"Inapplicable broken: {atom}"
         assert "breakable" in syns_to_props[objects[0]], f"Inapplicable broken: {atom}"

bddl/data_generation/get_syn_prop_annots_canonical.py

@@ -47,7 +47,7 @@
     "soakable": None,
     "wetable": "wet",
     "flammable": "on_fire",
-    "assembleable": "assembled",
+    "assembleable": None,
     "heatable" : "hot",
     "boilable": "boiling",
     "meltable" : "melted",

bddl/generated_data/synsets_to_descriptors.json

@@ -25552,10 +25552,6 @@
         ]
     ],
     "cabinet.n.01": [
-        [
-            "assembled",
-            "assembled"
-        ],
         [
             "disinfected",
             "disinfected"
@@ -35186,10 +35182,6 @@
         ]
     ],
     "clothesline.n.01": [
-        [
-            "assembled",
-            "assembled"
-        ],
         [
             "disinfected",
             "disinfected"
@@ -47360,10 +47352,6 @@
         ]
     ],
     "desk.n.01": [
-        [
-            "assembled",
-            "assembled"
-        ],
         [
             "disinfected",
             "disinfected"
@@ -127086,10 +127074,6 @@
         ]
     ],
     "shelf.n.01": [
-        [
-            "assembled",
-            "assembled"
-        ],
         [
             "disinfected",
             "disinfected"
@@ -144292,10 +144276,6 @@
         ]
     ],
     "trampoline.n.01": [
-        [
-            "assembled",
-            "assembled"
-        ],
         [
             "disinfected",
             "disinfected"

bddl/knowledge_base/models.py

@@ -624,7 +624,7 @@ def uses_physical_substance(self):
         return any("physicalSubstance" in synset.property_names for synset in self.synsets)
 
     def uses_attachment(self):
-        return any(pred.name in ['assembled', 'attached'] for pred in self.uses_predicates)
+        return any(pred.name == 'attached' for pred in self.uses_predicates)
 
     def uses_cloth(self):
         return any(pred.name in ['folded', 'draped', 'unfolded'] for pred in self.uses_predicates)

bddl/trivial_backend.py

@@ -39,7 +39,6 @@ def get_predicate_class(self, predicate_name):
             "draped": TrivialDrapedPredicate,
             "insource": TrivialInsourcePredicate,
             "broken": TrivialBrokenPredicate,
-            "assembled": TrivialAssembledPredicate,
             "grasped": TrivialGraspedPredicate,
         } 
         return PREDICATE_MAPPING[predicate_name]
@@ -61,7 +60,6 @@ def __init__(self):
         self.real = set() 
         self.broken = set()
         self.closed = set()
-        self.assembled = set()
         # Binaries - populated with 2-tuples of string names
         self.saturated = set()
         self.covered = set() 
@@ -92,7 +90,6 @@ def create_predicate_to_setters(self):
             "on_fire": self.set_on_fire,
             "empty": self.set_empty,
             "broken": self.set_broken,
-            "assembled": self.set_assembled,
             "closed": self.set_closed,
             "future": self.set_future,
             "real": self.set_real,
@@ -249,16 +246,6 @@ def set_broken(self, objs, is_broken):
     def get_broken(self, objs):
         return tuple(obj.name for obj in objs) in self.broken
 
-    def set_assembled(self, objs, is_assembled):
-        assert len(objs) == 1, f"`objs` has len other than 1: {objs}"
-        if is_assembled: 
-            self.assembled.add(objs)
-        else: 
-            self.assembled.discard(objs)
-
-    def get_assembled(self, objs):
-        return tuple(obj.name for obj in objs) in self.assembled
-
     def set_future(self, objs, is_future):
         assert len(objs) == 1, f"`objs` has len other than 1: {objs}"
         if is_future: 
@@ -458,9 +445,6 @@ def get_empty(self):
     def get_broken(self):
         return self.simulator.get_broken((self,))
 
-    def get_assembled(self):
-        return self.simulator.get_assembled((self,))
-
     def get_future(self):
         return self.simulator.get_future((self,))
 
@@ -640,17 +624,6 @@ def _sample(self, obj1, binary_state):
         pass
 
 
-class TrivialAssembledPredicate(UnaryAtomicFormula):
-    STATE_NAME = "assembled"
-
-    def _evaluate(self, obj):
-        print(self.STATE_NAME, obj.name, obj.get_assembled())
-        return obj.get_assembled()
-
-    def _sample(self, obj1, binary_state):
-        pass
-
-
 class TrivialFuturePredicate(UnaryAtomicFormula):
     STATE_NAME = "future"