simplify

StanfordVL · Mar 17, 2024 · 9bfbe6c · 9bfbe6c
1 parent ab3c75d
commit 9bfbe6c
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Showing 8 changed files with 39 additions and 90 deletions.
diff --git a/bddl/activity_definitions/grill_burgers/problem0.bddl b/bddl/activity_definitions/grill_burgers/problem0.bddl
@@ -3,8 +3,7 @@
 
     (:objects
         grill.n.02_1 - grill.n.02
-        tray.n.01_1 - tray.n.01
-        sack.n.01_1 - sack.n.01
+        tray.n.01_1 tray.n.01_2 - tray.n.01
         console_table.n.01_1 console_table.n.01_2 - console_table.n.01
         patty.n.01_1 patty.n.01_2 - patty.n.01
         spatula.n.01_1 - spatula.n.01
@@ -19,22 +18,22 @@
     )
 
     (:init 
+        (ontop tray.n.01_1 lawn.n.01_1)
+        (ontop tray.n.01_2 lawn.n.01_1)
         (ontop console_table.n.01_1 lawn.n.01_1)
         (ontop console_table.n.01_2 lawn.n.01_1)
-        (ontop tray.n.01_1 console_table.n.01_1)
-        (inside patty.n.01_1 tray.n.01_1) 
-        (inside patty.n.01_2 tray.n.01_1)
+        (ontop patty.n.01_1 tray.n.01_1)
+        (ontop patty.n.01_2 tray.n.01_1)
         (not 
             (cooked patty.n.01_1)
         ) 
         (not 
             (cooked patty.n.01_2)
         )
-        (ontop sack.n.01_1 lawn.n.01_1)
-        (inside hamburger_bun.n.01_1 sack.n.01_1)
-        (inside hamburger_bun.n.01_2 sack.n.01_1)
-        (ontop spatula.n.01_1 console_table.n.01_2) 
-        (ontop toasting_fork.n.01_1 console_table.n.01_2) 
+        (ontop hamburger_bun.n.01_1 tray.n.01_2)
+        (ontop hamburger_bun.n.01_2 tray.n.01_2)
+        (ontop spatula.n.01_1 console_table.n.01_1)
+        (ontop toasting_fork.n.01_1 console_table.n.01_1)
         (ontop tongs.n.01_1 console_table.n.01_2) 
         (ontop cigar_lighter.n.01_1 console_table.n.01_2)
         (inroom grill.n.02_1 garden) 

diff --git a/bddl/activity_definitions/laying_clothes_out/problem0.bddl b/bddl/activity_definitions/laying_clothes_out/problem0.bddl
@@ -5,18 +5,16 @@
         jacket.n.01_1 - jacket.n.01
         wardrobe.n.01_1 - wardrobe.n.01
         sandal.n.01_1 - sandal.n.01
-        cedar_chest.n.01_1 - cedar_chest.n.01
         bed.n.01_1 - bed.n.01
         floor.n.01_1 floor.n.01_2 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
         (inside jacket.n.01_1 wardrobe.n.01_1) 
-        (inside sandal.n.01_1 cedar_chest.n.01_1)
+        (inside sandal.n.01_1 wardrobe.n.01_1)
         (inroom wardrobe.n.01_1 closet)
         (inroom floor.n.01_1 closet) 
-        (ontop cedar_chest.n.01_1 floor.n.01_1)
         (inroom bed.n.01_1 bedroom)
         (inroom floor.n.01_2 bedroom)
         (ontop agent.n.01_1 floor.n.01_1)

diff --git a/bddl/activity_definitions/make_homemade_bird_food/problem0.bddl b/bddl/activity_definitions/make_homemade_bird_food/problem0.bddl
@@ -16,8 +16,6 @@
         sunflower_seed__bag.n.01_1 - sunflower_seed__bag.n.01
         countertop.n.01_1 countertop.n.01_2 - countertop.n.01
         mixing_bowl.n.01_1 - mixing_bowl.n.01
-        cabinet.n.01_1 - cabinet.n.01
-        wicker_basket.n.01_1 - wicker_basket.n.01
         carving_knife.n.01_1 - carving_knife.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
         agent.n.01_1 - agent.n.01
@@ -29,21 +27,19 @@
         (inside peanut_butter__jar.n.01_1 electric_refrigerator.n.01_1) 
         (filled sack.n.01_1 almond.n.02_1) 
         (ontop sack.n.01_1 floor.n.01_1)
-        (inside apple.n.01_1 wicker_basket.n.01_1) 
-        (ontop wicker_basket.n.01_1 countertop.n.01_1) 
-        (filled sunflower_seed__bag.n.01_1 sunflower_seed.n.01_1) 
+        (ontop apple.n.01_1 countertop.n.01_1)
+        (filled sunflower_seed__bag.n.01_1 sunflower_seed.n.01_1)
         (ontop sunflower_seed__bag.n.01_1 floor.n.01_1)
         (filled raisin__box.n.01_1 raisin.n.01_1) 
-        (inside raisin__box.n.01_1 cabinet.n.01_1) 
+        (ontop raisin__box.n.01_1 countertop.n.01_1)
         (ontop pinecone.n.01_1 countertop.n.01_2) 
         (ontop table_knife.n.01_1 countertop.n.01_2) 
         (ontop carving_knife.n.01_1 countertop.n.01_2) 
         (ontop mixing_bowl.n.01_1 countertop.n.01_2) 
         (inroom countertop.n.01_1 kitchen)
         (inroom countertop.n.01_2 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
-        (inroom cabinet.n.01_1 kitchen) 
-        (future diced__apple.n.01_1) 
+        (future diced__apple.n.01_1)
         (inroom floor.n.01_1 kitchen) 
         (ontop agent.n.01_1 floor.n.01_1)
     )

diff --git a/bddl/activity_definitions/make_waffles/problem0.bddl b/bddl/activity_definitions/make_waffles/problem0.bddl
@@ -24,7 +24,6 @@
         milk__carton.n.01_1 - milk__carton.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
         cabinet.n.01_1 - cabinet.n.01
-        microwave.n.02_1 - microwave.n.02
         agent.n.01_1 - agent.n.01
         floor.n.01_1 - floor.n.01
     )
@@ -49,7 +48,6 @@
         (ontop electric_mixer.n.01_1 countertop.n.01_2) 
         (ontop waffle_iron.n.01_1 countertop.n.01_2) 
         (ontop plate.n.04_1 countertop.n.01_2) 
-        (inroom microwave.n.02_1 kitchen)
         (inroom electric_refrigerator.n.01_1 kitchen)
         (inroom cabinet.n.01_1 kitchen)
         (inroom countertop.n.01_1 kitchen)

diff --git a/bddl/activity_definitions/prepare_wine_and_cheese/problem0.bddl b/bddl/activity_definitions/prepare_wine_and_cheese/problem0.bddl
@@ -7,20 +7,17 @@
         diced__cheddar.n.01_1 - diced__cheddar.n.01
         feta.n.01_1 - feta.n.01
         diced__feta.n.01_1 - diced__feta.n.01
-        plate.n.04_1 plate.n.04_2 plate.n.04_3 plate.n.04_4 plate.n.04_5 - plate.n.04
+        plate.n.04_1 plate.n.04_2 - plate.n.04
         white_wine.n.01_1 - white_wine.n.01
         champagne.n.01_1 - champagne.n.01
         carafe.n.01_1 - carafe.n.01
         pretzel.n.01_1 pretzel.n.01_2 - pretzel.n.01
-        bowl.n.01_1 - bowl.n.01
-        almond.n.02_1 - almond.n.02
         floor.n.01_1 - floor.n.01
         wineglass.n.01_1 wineglass.n.01_2 - wineglass.n.01
         chopping_board.n.01_1 - chopping_board.n.01
         carving_knife.n.01_1 - carving_knife.n.01
         breakfast_table.n.01_1 - breakfast_table.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
-        cabinet.n.01_1 cabinet.n.01_2 - cabinet.n.01
         countertop.n.01_1 - countertop.n.01
         agent.n.01_1 - agent.n.01
     )
@@ -30,25 +27,18 @@
         (ontop feta.n.01_1 plate.n.04_1)
         (filled wine_bottle.n.01_1 white_wine.n.01_1)
         (filled wine_bottle.n.01_2 champagne.n.01_1)
-        (inside wine_bottle.n.01_1 electric_refrigerator.n.01_1)
-        (inside wine_bottle.n.01_2 electric_refrigerator.n.01_1)
-        (ontop pretzel.n.01_1 plate.n.04_4)
-        (ontop pretzel.n.01_2 plate.n.04_5)
-        (filled bowl.n.01_1 almond.n.02_1)
-        (ontop bowl.n.01_1 countertop.n.01_1)
-        (ontop plate.n.04_4 countertop.n.01_1)
-        (ontop plate.n.04_5 countertop.n.01_1)
-        (inside carafe.n.01_1 cabinet.n.01_1)
-        (inside wineglass.n.01_1 cabinet.n.01_2)
-        (inside wineglass.n.01_2 cabinet.n.01_2)
-        (inside plate.n.04_1 cabinet.n.01_1)
-        (inside plate.n.04_2 cabinet.n.01_1) 
-        (inside plate.n.04_3 cabinet.n.01_1) 
+        (ontop wine_bottle.n.01_1 electric_refrigerator.n.01_1)
+        (ontop wine_bottle.n.01_2 electric_refrigerator.n.01_1)
+        (ontop pretzel.n.01_1 plate.n.04_1)
+        (ontop pretzel.n.01_2 plate.n.04_2)
+        (ontop plate.n.04_1 countertop.n.01_1)
+        (ontop plate.n.04_2 countertop.n.01_1)
+        (ontop carafe.n.01_1 countertop.n.01_1)
+        (ontop wineglass.n.01_1 countertop.n.01_1)
+        (ontop wineglass.n.01_2 countertop.n.01_1)
         (ontop chopping_board.n.01_1 countertop.n.01_1)
         (ontop carving_knife.n.01_1 chopping_board.n.01_1)
         (inroom electric_refrigerator.n.01_1 kitchen)
-        (inroom cabinet.n.01_1 kitchen)
-        (inroom cabinet.n.01_2 kitchen)
         (inroom countertop.n.01_1 kitchen)
         (inroom breakfast_table.n.01_1 dining_room) 
         (inroom floor.n.01_1 dining_room) 
@@ -65,32 +55,11 @@
             (ontop ?carafe.n.01_1 ?breakfast_table.n.01_1)
             (filled ?wine_bottle.n.01_2 ?champagne.n.01_1)
             (ontop ?wine_bottle.n.01_2 ?breakfast_table.n.01_1)
-            (exists 
-                (?plate.n.04 - plate.n.04)
-                (and 
-                    (contains ?plate.n.04 ?almond.n.02_1)
-                    (not 
-                        (contains ?plate.n.04 ?diced__cheddar.n.01_1)
-                    )
-                    (not 
-                        (contains ?plate.n.04 ?diced__feta.n.01_1)
-                    )
-                    (forall 
-                        (?pretzel.n.01 - pretzel.n.01)
-                        (not 
-                            (ontop ?pretzel.n.01 ?plate.n.04)
-                        )
-                    )
-                )
-            )
             (exists 
                 (?plate.n.04 - plate.n.04)
                 (and 
                     (contains ?plate.n.04 ?diced__cheddar.n.01_1)
                     (contains ?plate.n.04 ?diced__feta.n.01_1)
-                    (not 
-                        (contains ?plate.n.04 ?almond.n.02_1)
-                    )
                     (forall 
                         (?pretzel.n.01 - pretzel.n.01)
                         (not 
@@ -106,9 +75,6 @@
                         (?pretzel.n.01 - pretzel.n.01)
                         (ontop ?pretzel.n.01 ?plate.n.04)
                     )
-                    (not 
-                        (contains ?plate.n.04 ?almond.n.02_1)
-                    )
                     (not 
                         (contains ?plate.n.04 ?diced__cheddar.n.01_1)
                     )

diff --git a/bddl/activity_definitions/set_up_a_buffet/problem0.bddl b/bddl/activity_definitions/set_up_a_buffet/problem0.bddl
@@ -8,16 +8,15 @@
         cabinet.n.01_1 cabinet.n.01_2 - cabinet.n.01
         napkin.n.01_1 napkin.n.01_2 napkin.n.01_3 napkin.n.01_4 - napkin.n.01
         water_glass.n.02_1 water_glass.n.02_2 - water_glass.n.02
-        casserole.n.02_1 casserole.n.02_2 - casserole.n.02
+        casserole.n.02_1 casserole.n.02_2 casserole.n.02_3 casserole.n.02_4 - casserole.n.02
         cooked__diced__broccoli.n.01_1 - cooked__diced__broccoli.n.01
         chicken_leg.n.01_1 chicken_leg.n.01_2 - chicken_leg.n.01
         cooked__quinoa.n.01_1 - cooked__quinoa.n.01
         chocolate_biscuit.n.01_1 chocolate_biscuit.n.01_2 - chocolate_biscuit.n.01
         countertop.n.01_1 - countertop.n.01
-        ladle.n.01_1 - ladle.n.01
-        tongs.n.01_1 - tongs.n.01
+        ladle.n.01_1 ladle.n.01_2 - ladle.n.01
+        tongs.n.01_1 tongs.n.01_2 - tongs.n.01
         floor.n.01_1 - floor.n.01
-        microwave.n.02_1 - microwave.n.02
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
         agent.n.01_1 - agent.n.01
     )
@@ -30,11 +29,15 @@
         (ontop napkin.n.01_3 breakfast_table.n.01_1)
         (ontop napkin.n.01_4 breakfast_table.n.01_1) 
         (inside water_glass.n.02_1 cabinet.n.01_1) 
-        (inside water_glass.n.02_2 cabinet.n.01_1)
+        (ontop water_glass.n.02_2 countertop.n.01_1)
         (ontop casserole.n.02_1 countertop.n.01_1)
         (ontop casserole.n.02_2 countertop.n.01_1)
+        (ontop casserole.n.02_3 countertop.n.01_1)
+        (ontop casserole.n.02_4 countertop.n.01_1)
         (inside ladle.n.01_1 cabinet.n.01_2)
-        (inside tongs.n.01_1 cabinet.n.01_2)
+        (ontop ladle.n.01_2 countertop.n.01_1)
+        (ontop tongs.n.01_1 countertop.n.01_1)
+        (ontop tongs.n.01_2 countertop.n.01_1)
         (filled bowl.n.01_1 cooked__diced__broccoli.n.01_1)
         (inside bowl.n.01_1 electric_refrigerator.n.01_1)
         (cooked chicken_leg.n.01_1)
@@ -46,13 +49,12 @@
         (inside bowl.n.01_2 electric_refrigerator.n.01_1)
         (ontop chocolate_biscuit.n.01_1 plate.n.04_4)
         (ontop chocolate_biscuit.n.01_2 plate.n.04_4)
-        (inside plate.n.04_4 electric_refrigerator.n.01_1)
+        (ontop plate.n.04_4 countertop.n.01_1)
         (inroom breakfast_table.n.01_1 dining_room) 
         (inroom cabinet.n.01_1 kitchen)
         (inroom cabinet.n.01_2 kitchen)
         (inroom countertop.n.01_1 kitchen) 
         (inroom floor.n.01_1 kitchen) 
-        (inroom microwave.n.02_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen)
         (future cooked__diced__broccoli.n.01_1)
         (future cooked__quinoa.n.01_1)
@@ -72,13 +74,7 @@
             )
             (forall 
                 (?water_glass.n.02 - water_glass.n.02)
-                (and 
-                    (ontop ?water_glass.n.02 ?breakfast_table.n.01_1)
-                    (or 
-                        (nextto ?water_glass.n.02 ?water_glass.n.02_1)
-                        (nextto ?water_glass.n.02 ?water_glass.n.02_2)
-                    )
-                )
+                (ontop ?water_glass.n.02 ?breakfast_table.n.01_1)
             )
             (exists 
                 (?casserole.n.02 - casserole.n.02)

diff --git a/bddl/activity_definitions/sorting_laundry/problem0.bddl b/bddl/activity_definitions/sorting_laundry/problem0.bddl
@@ -3,7 +3,7 @@
 
     (:objects
         lingerie.n.01_1 - lingerie.n.01
-        hamper.n.02_1 hamper.n.02_2 - hamper.n.02
+        hamper.n.02_1 - hamper.n.02
         sock.n.01_1 sock.n.01_2 - sock.n.01
         jersey.n.03_1 - jersey.n.03
         trouser.n.01_1 - trouser.n.01
@@ -18,10 +18,9 @@
         (ontop trouser.n.01_1 bed.n.01_1)
         (inside sock.n.01_1 hamper.n.02_1) 
         (inside sock.n.01_2 hamper.n.02_1)
-        (inside jersey.n.03_1 hamper.n.02_2)
+        (ontop jersey.n.03_1 bed.n.01_1)
         (ontop hamper.n.02_1 floor.n.01_1)
-        (ontop hamper.n.02_2 floor.n.01_1)
-        (inroom floor.n.01_1 utility_room) 
+        (inroom floor.n.01_1 utility_room)
         (inroom cabinet.n.01_1 utility_room) 
         (inroom cabinet.n.01_2 utility_room)
         (inroom bed.n.01_1 bedroom)

diff --git a/bddl/activity_definitions/unpacking_childs_bag/problem0.bddl b/bddl/activity_definitions/unpacking_childs_bag/problem0.bddl
@@ -5,7 +5,6 @@
         backpack.n.01_1 - backpack.n.01
         pen.n.01_1 - pen.n.01
         pencil.n.01_1 - pencil.n.01
-        notebook.n.01_1 - notebook.n.01
         crayon.n.01_1 - crayon.n.01
         desk.n.01_1 - desk.n.01
         floor.n.01_1 - floor.n.01
@@ -17,8 +16,7 @@
         (ontop backpack.n.01_1 bed.n.01_1) 
         (inside pen.n.01_1 backpack.n.01_1)
         (inside pencil.n.01_1 backpack.n.01_1)
-        (inside notebook.n.01_1 backpack.n.01_1)
-        (inside crayon.n.01_1 backpack.n.01_1) 
+        (inside crayon.n.01_1 backpack.n.01_1)
         (inroom desk.n.01_1 childs_room)
         (inroom bed.n.01_1 childs_room)
         (inroom floor.n.01_1 childs_room)
@@ -39,7 +37,6 @@
                 (?crayon.n.01 - crayon.n.01) 
                 (ontop ?crayon.n.01 ?desk.n.01_1)
             ) 
-            (ontop ?notebook.n.01_1 ?desk.n.01_1)
             (nextto ?backpack.n.01_1 ?desk.n.01_1)
             (not
                 (open ?backpack.n.01_1)