Attach to wall nails instead of walls directly

bddl/activity_definitions/buying_fast_food/problem0.bddl

@@ -5,7 +5,7 @@
         cash_register.n.01_1 - cash_register.n.01
         checkout.n.03_1 - checkout.n.03
         menu.n.01_1 - menu.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 - wall_nail.n.01
         credit_card.n.01_1 - credit_card.n.01
         hamburger.n.01_1 hamburger.n.01_2 - hamburger.n.01
         shelf.n.01_1 shelf.n.01_2 shelf.n.01_3 - shelf.n.01
@@ -18,7 +18,7 @@
 
     (:init 
         (ontop cash_register.n.01_1 checkout.n.03_1) 
-        (attached menu.n.01_1 wall.n.01_1) 
+        (attached menu.n.01_1 wall_nail.n.01_1) 
         (ontop credit_card.n.01_1 checkout.n.03_1) 
         (inside hamburger.n.01_1 shelf.n.01_1) 
         (inside hamburger.n.01_2 shelf.n.01_1) 
@@ -32,7 +32,7 @@
         (inroom shelf.n.01_1 grocery_store) 
         (inroom shelf.n.01_2 grocery_store) 
         (inroom shelf.n.01_3 grocery_store) 
-        (inroom wall.n.01_1 grocery_store) 
+        (inroom wall_nail.n.01_1 grocery_store) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 

bddl/activity_definitions/clean_deer_antlers/problem0.bddl

@@ -3,25 +3,25 @@
 
     (:objects
         antler.n.01_1 - antler.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 - wall_nail.n.01
         floor.n.01_1 - floor.n.01
         hand_towel.n.01_1 - hand_towel.n.01
         dust.n.01_1 - dust.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
-        (attached antler.n.01_1 wall.n.01_1) 
+        (attached antler.n.01_1 wall_nail.n.01_1) 
         (ontop hand_towel.n.01_1 floor.n.01_1) 
         (covered antler.n.01_1 dust.n.01_1) 
-        (inroom wall.n.01_1 corridor) 
+        (inroom wall_nail.n.01_1 corridor) 
         (inroom floor.n.01_1 corridor) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (attached ?antler.n.01_1 ?wall.n.01_1)
+            (attached ?antler.n.01_1 ?wall_nail.n.01_1)
             (not 
                 (covered ?antler.n.01_1 ?dust.n.01_1)
             )

bddl/activity_definitions/clean_soot_from_glass_lanterns/problem0.bddl

@@ -2,7 +2,6 @@
     (:domain omnigibson)
 
     (:objects
-        wall.n.01_1 - wall.n.01
         glass_lantern.n.01_1 - glass_lantern.n.01
         stain.n.01_1 - stain.n.01
         vinegar.n.01_1 - vinegar.n.01
@@ -26,7 +25,6 @@
         (ontop ammonia_water__atomizer.n.01_1 floor.n.01_1) 
         (ontop water__atomizer.n.01_1 floor.n.01_1) 
         (ontop rag.n.01_1 floor.n.01_1) 
-        (inroom wall.n.01_1 garden) 
         (inroom floor.n.01_1 garden) 
         (ontop agent.n.01_1 floor.n.01_1)
     )

bddl/activity_definitions/decorating_for_religious_ceremony/problem0.bddl

@@ -7,7 +7,7 @@
         wreath.n.01_1 - wreath.n.01
         floor.n.01_1 - floor.n.01
         candlestick.n.01_1 - candlestick.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 - wall_nail.n.01
         shelf.n.01_1 - shelf.n.01
         agent.n.01_1 - agent.n.01
     )
@@ -20,10 +20,10 @@
             (attached dip.n.07_1 candlestick.n.01_1)
         )
         (not 
-            (attached wreath.n.01_1 wall.n.01_1)
+            (attached wreath.n.01_1 wall_nail.n.01_1)
         )
         (inroom floor.n.01_1 living_room)
-        (inroom wall.n.01_1 living_room)
+        (inroom wall_nail.n.01_1 living_room)
         (inroom cabinet.n.01_1 living_room)
         (inroom shelf.n.01_1 living_room)
         (ontop agent.n.01_1 floor.n.01_1)
@@ -33,7 +33,7 @@
         (and 
             (attached ?dip.n.07_1 ?candlestick.n.01_1) 
             (ontop ?candlestick.n.01_1 ?shelf.n.01_1) 
-            (attached ?wreath.n.01_1 ?wall.n.01_1)
+            (attached ?wreath.n.01_1 ?wall_nail.n.01_1)
         )
     )
 )

bddl/activity_definitions/decorating_outside_for_holidays/problem0.bddl

@@ -8,7 +8,7 @@
         holly.n.03_1 - holly.n.03
         bow.n.08_1 - bow.n.08
         tree.n.01_1 - tree.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 wall_nail.n.01_2 wall_nail.n.01_3 - wall_nail.n.01
         coffee_table.n.01_1 - coffee_table.n.01
         agent.n.01_1 - agent.n.01
     )
@@ -18,28 +18,30 @@
         (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) 
-        (not
-            (attached wreath.n.01_1 wall.n.01_1) 
-        )
-        (not
-            (attached bow.n.08_1 wall.n.01_1)
-        )
-        (not
-            (attached holly.n.03_1 wall.n.01_1)
-        )
         (inroom tree.n.01_1 garden) 
         (inroom floor.n.01_1 garden) 
-        (inroom wall.n.01_1 garden) 
+        (inroom wall_nail.n.01_1 garden) 
+        (inroom wall_nail.n.01_2 garden) 
+        (inroom wall_nail.n.01_3 garden) 
         (inroom coffee_table.n.01_1 living_room) 
         (inroom floor.n.01_2 living_room)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (attached ?wreath.n.01_1 ?wall.n.01_1) 
-            (attached ?bow.n.08_1 ?wall.n.01_1)
-            (attached ?holly.n.03_1 ?wall.n.01_1)
+            (exists 
+                (?wall_nail.n.01 - wall_nail.n.01)
+                (attached ?wreath.n.01_1 ?wall_nail.n.01)
+            )
+            (exists 
+                (?wall_nail.n.01 - wall_nail.n.01)
+                (attached ?bow.n.08_1 ?wall_nail.n.01)
+            )
+            (exists 
+                (?wall_nail.n.01 - wall_nail.n.01)
+                (attached ?holly.n.03_1 ?wall_nail.n.01)
+            )
         )
     )
 )

bddl/activity_definitions/decorating_outside_for_parties/problem0.bddl

@@ -9,7 +9,7 @@
         gift_box.n.01_1 - gift_box.n.01
         bow.n.08_1 - bow.n.08
         tree.n.01_1 - tree.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 - wall_nail.n.01
         coffee_table.n.01_1 - coffee_table.n.01
         agent.n.01_1 - agent.n.01
     )
@@ -21,14 +21,14 @@
         (inside balloon.n.01_4 carton.n.02_1) 
         (ontop carton.n.02_1 floor.n.01_1)
         (not 
-            (attached bow.n.08_1 wall.n.01_1)
+            (attached bow.n.08_1 wall_nail.n.01_1)
         )
         (ontop centerpiece.n.02_1 floor.n.01_1) 
         (ontop bow.n.08_1 floor.n.01_1)
         (ontop gift_box.n.01_1 floor.n.01_1)
         (inroom floor.n.01_1 garden) 
         (inroom tree.n.01_1 garden) 
-        (inroom wall.n.01_1 garden) 
+        (inroom wall_nail.n.01_1 garden) 
         (inroom coffee_table.n.01_1 garden) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
@@ -41,7 +41,7 @@
                 (?balloon.n.01 - balloon.n.01)
                 (ontop ?balloon.n.01 ?floor.n.01_1)
             ) 
-            (attached ?bow.n.08_1 ?wall.n.01_1)
+            (attached ?bow.n.08_1 ?wall_nail.n.01_1)
         )
     )
 )

bddl/activity_definitions/drape_window_scarves/problem0.bddl

@@ -5,15 +5,15 @@
         curtain.n.01_1 - curtain.n.01
         floor.n.01_1 - floor.n.01
         curtain_rod.n.01_1 - curtain_rod.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 - wall_nail.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
         (ontop curtain.n.01_1 floor.n.01_1)
-        (attached curtain_rod.n.01_1 wall.n.01_1)
+        (attached curtain_rod.n.01_1 wall_nail.n.01_1)
         (inroom floor.n.01_1 bedroom)
-        (inroom wall.n.01_1 bedroom) 
+        (inroom wall_nail.n.01_1 bedroom) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 

bddl/activity_definitions/hang_a_bike_on_the_wall/problem0.bddl

@@ -5,7 +5,7 @@
         bicycle.n.01_1 - bicycle.n.01
         bicycle_rack.n.01_1 - bicycle_rack.n.01
         floor.n.01_1 - floor.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 - wall_nail.n.01
         agent.n.01_1 - agent.n.01
     )
 
@@ -14,9 +14,9 @@
         (not 
             (attached bicycle.n.01_1 bicycle_rack.n.01_1)
         )
-        (attached bicycle_rack.n.01_1 wall.n.01_1) 
+        (attached bicycle_rack.n.01_1 wall_nail.n.01_1) 
         (inroom floor.n.01_1 garage) 
-        (inroom wall.n.01_1 garage) 
+        (inroom wall_nail.n.01_1 garage) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 

bddl/activity_definitions/hang_a_dartboard/problem0.bddl

@@ -4,7 +4,7 @@
     (:objects
         table.n.02_1 - table.n.02
         dartboard.n.01_1 - dartboard.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 - wall_nail.n.01
         dart.n.01_1 dart.n.01_2 dart.n.01_3 - dart.n.01
         packing_box.n.02_1 - packing_box.n.02
         floor.n.01_1 - floor.n.01
@@ -17,18 +17,18 @@
         (ontop dart.n.01_3 dartboard.n.01_1)
         (ontop dart.n.01_2 dartboard.n.01_1)
         (not
-            (attached dartboard.n.01_1 wall.n.01_1)
+            (attached dartboard.n.01_1 wall_nail.n.01_1)
         )
         (ontop packing_box.n.02_1 table.n.02_1)
         (inroom floor.n.01_1 living_room)
-        (inroom wall.n.01_1 living_room)
+        (inroom wall_nail.n.01_1 living_room)
         (inroom table.n.02_1 living_room)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (attached ?dartboard.n.01_1 ?wall.n.01_1)
+            (attached ?dartboard.n.01_1 ?wall_nail.n.01_1)
             (forall 
                 (?dart.n.01 - dart.n.01)
                 (inside ?dart.n.01 ?packing_box.n.02_1)

bddl/activity_definitions/hang_icicle_lights/problem0.bddl

@@ -5,24 +5,24 @@
         icicle_lights.n.01_1 - icicle_lights.n.01
         coffee_table.n.01_1 - coffee_table.n.01
         floor.n.01_1 - floor.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 - wall_nail.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
         (ontop icicle_lights.n.01_1 coffee_table.n.01_1) 
         (not 
-            (attached icicle_lights.n.01_1 wall.n.01_1)
+            (attached icicle_lights.n.01_1 wall_nail.n.01_1)
         )
         (inroom floor.n.01_1 living_room)
-        (inroom wall.n.01_1 living_room)
+        (inroom wall_nail.n.01_1 living_room)
         (inroom coffee_table.n.01_1 living_room)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (attached ?icicle_lights.n.01_1 ?wall.n.01_1)
+            (attached ?icicle_lights.n.01_1 ?wall_nail.n.01_1)
         )
     )
 )

bddl/activity_definitions/hang_paper_lanterns/problem0.bddl

@@ -6,7 +6,7 @@
         paper_lantern.n.01_1 - paper_lantern.n.01
         pole.n.01_1 - pole.n.01
         floor.n.01_1 - floor.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 - wall_nail.n.01
         agent.n.01_1 - agent.n.01
     )
 
@@ -17,10 +17,10 @@
             (attached paper_lantern.n.01_1 pole.n.01_1)
         )
         (not 
-            (attached pole.n.01_1 wall.n.01_1)
+            (attached pole.n.01_1 wall_nail.n.01_1)
         )
         (inroom floor.n.01_1 garden) 
-        (inroom wall.n.01_1 garden) 
+        (inroom wall_nail.n.01_1 garden) 
         (inroom table.n.02_1 garden) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
@@ -33,7 +33,7 @@
             )
             (forall 
                 (?pole.n.01 - pole.n.01)
-                (attached ?pole.n.01 ?wall.n.01_1)
+                (attached ?pole.n.01 ?wall_nail.n.01_1)
             )
         )
     )

bddl/activity_definitions/hanging_address_numbers/problem0.bddl

@@ -5,34 +5,28 @@
         address.n.05_1 address.n.05_2 address.n.05_3 - address.n.05
         table.n.02_1 - table.n.02
         floor.n.01_1 - floor.n.01
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 wall_nail.n.01_2 wall_nail.n.01_3 - wall_nail.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
         (ontop address.n.05_1 table.n.02_1)
         (ontop address.n.05_2 table.n.02_1)
         (ontop address.n.05_3 table.n.02_1)
-        (not 
-            (attached address.n.05_1 wall.n.01_1)
-        )
-        (not 
-            (attached address.n.05_2 wall.n.01_1)
-        )
-        (not 
-            (attached address.n.05_3 wall.n.01_1)
-        )
         (inroom floor.n.01_1 living_room)
-        (inroom wall.n.01_1 garden)
+        (inroom wall_nail.n.01_1 garden)
+        (inroom wall_nail.n.01_2 garden)
+        (inroom wall_nail.n.01_3 garden)
         (inroom table.n.02_1 living_room)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (forall 
+            (forpairs 
                 (?address.n.05 - address.n.05)
-                (attached ?address.n.05 ?wall.n.01_1)
+                (?wall_nail.n.01 - wall_nail.n.01)
+                (attached ?address.n.05 ?wall_nail.n.01)
             )
         )
     )

bddl/activity_definitions/hanging_blinds/problem0.bddl

@@ -4,22 +4,22 @@
     (:objects
         window_blind.n.01_1 - window_blind.n.01
         table.n.02_1 - table.n.02
-        wall.n.01_1 - wall.n.01
+        wall_nail.n.01_1 - wall_nail.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) 
-        (inroom wall.n.01_1 living_room)
+        (inroom wall_nail.n.01_1 living_room)
         (inroom floor.n.01_1 living_room)
         (inroom table.n.02_1 living_room) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (attached ?window_blind.n.01_1 ?wall.n.01_1)
+            (attached ?window_blind.n.01_1 ?wall_nail.n.01_1)
         )
     )
 )