merge

bddl/activity_definitions/bag_groceries/problem0.bddl

@@ -2,7 +2,7 @@
     (:domain omnigibson)
 
     (:objects
-     	plastic_bag.n.01_1 plastic_bag.n.01_2 - plastic_bag.n.01
+     	sack.n.01_1 sack.n.01_2 - sack.n.01
     	checkout.n.03_1 - checkout.n.03
     	canned_food.n.01_1 - canned_food.n.01
     	egg.n.02_1 - egg.n.02
@@ -13,8 +13,8 @@
     )
 
     (:init 
-        (ontop plastic_bag.n.01_1 checkout.n.03_1) 
-        (ontop plastic_bag.n.01_2 checkout.n.03_1) 
+        (ontop sack.n.01_1 checkout.n.03_1)
+        (ontop sack.n.01_2 checkout.n.03_1)
         (ontop canned_food.n.01_1 checkout.n.03_1) 
         (ontop egg.n.02_1 checkout.n.03_1) 
         (ontop apple.n.01_1 checkout.n.03_1) 
@@ -27,20 +27,20 @@
     (:goal 
         (and 
             (exists 
-                (?plastic_bag.n.01 - plastic_bag.n.01)
-                (inside ?canned_food.n.01_1 ?plastic_bag.n.01)
+                (?sack.n.01 - sack.n.01)
+                (inside ?canned_food.n.01_1 ?sack.n.01)
             )
             (exists 
-                (?plastic_bag.n.01 - plastic_bag.n.01)
-                (inside ?egg.n.02_1 ?plastic_bag.n.01)
+                (?sack.n.01 - sack.n.01)
+                (inside ?egg.n.02_1 ?sack.n.01)
             )
             (exists 
-                (?plastic_bag.n.01 - plastic_bag.n.01)
-                (inside ?bottle__of__orange_juice.n.01_1 ?plastic_bag.n.01)
+                (?sack.n.01 - sack.n.01)
+                (inside ?bottle__of__orange_juice.n.01_1 ?sack.n.01)
             )
             (exists 
-                (?plastic_bag.n.01 - plastic_bag.n.01)
-                (inside ?apple.n.01_1 ?plastic_bag.n.01)
+                (?sack.n.01 - sack.n.01)
+                (inside ?apple.n.01_1 ?sack.n.01)
             )
         )
     )

bddl/activity_definitions/baking_cookies_for_the_PTA_bake_sale/problem0.bddl

@@ -47,9 +47,7 @@
         (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 countertop.n.01_1 kitchen) 
-        (inroom countertop.n.01_1 kitchen) 
+        (inroom countertop.n.01_1 kitchen)
         (inside bowl.n.01_1 electric_refrigerator.n.01_1) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (ontop cookie_sheet.n.01_1 countertop.n.01_1) 

bddl/activity_definitions/bringing_in_kindling/problem0.bddl

@@ -4,7 +4,6 @@
     (:objects
      	firewood.n.01_1 firewood.n.01_2 firewood.n.01_3 - firewood.n.01
     	lawn.n.01_1 - lawn.n.01
-    	plastic_bag.n.01_1 - plastic_bag.n.01
     	disinfectant.n.01_1 - disinfectant.n.01
     	coffee_table.n.01_1 - coffee_table.n.01
     	fireplace.n.01_1 - fireplace.n.01
@@ -13,11 +12,10 @@
     )
 
     (:init 
-        (ontop firewood.n.01_1 plastic_bag.n.01_1) 
-        (ontop firewood.n.01_2 plastic_bag.n.01_1) 
-        (ontop firewood.n.01_3 plastic_bag.n.01_1) 
-        (ontop plastic_bag.n.01_1 lawn.n.01_1) 
-        (covered coffee_table.n.01_1 disinfectant.n.01_1) 
+        (ontop firewood.n.01_1 lawn.n.01_1)
+        (ontop firewood.n.01_2 lawn.n.01_1)
+        (ontop firewood.n.01_3 lawn.n.01_1)
+        (covered coffee_table.n.01_1 disinfectant.n.01_1)
         (inroom lawn.n.01_1 garden) 
         (inroom coffee_table.n.01_1 living_room) 
         (inroom floor.n.01_1 garden) 

bddl/activity_definitions/bringing_paper_to_recycling/problem0.bddl

@@ -11,7 +11,7 @@
     (:init 
         (ontop paper.n.01_1 floor.n.01_1) 
         (ontop paper.n.01_2 floor.n.01_1) 
-        (ontop paper.n.01_3 paper.n.01_2) 
+        (ontop paper.n.01_3 floor.n.01_1)
         (ontop recycling_bin.n.01_1 floor.n.01_1) 
         (open recycling_bin.n.01_1) 
         (inroom floor.n.01_1 corridor) 

bddl/activity_definitions/buy_and_clean_mussels/problem0.bddl

@@ -42,8 +42,8 @@
             (forall 
                 (?mussel.n.01 - mussel.n.01)
                 (and
-                    (ontop ?mussel.n.01 ?paper_towel.n.01_1)
-                    (not 
+                    (covered ?mussel.n.01 ?water.n.06_1)
+                    (not
                         (covered ?mussel.n.01 ?sand.n.04_1)
                     )
                 )

bddl/activity_definitions/buy_home_use_medical_supplies/problem0.bddl

@@ -4,7 +4,7 @@
     (:objects
         cash_register.n.01_1 - cash_register.n.01
         checkout.n.03_1 - checkout.n.03
-        plastic_bag.n.01_1 - plastic_bag.n.01
+        sack.n.01_1 - sack.n.01
         bottle__of__antihistamines.n.01_1 - bottle__of__antihistamines.n.01
         shelf.n.01_1 shelf.n.01_2 shelf.n.01_3 - shelf.n.01
         first-aid_kit.n.01_1 - first-aid_kit.n.01
@@ -18,7 +18,7 @@
 
     (:init 
         (ontop cash_register.n.01_1 checkout.n.03_1)
-        (ontop plastic_bag.n.01_1 checkout.n.03_1) 
+        (ontop sack.n.01_1 checkout.n.03_1)
         (inside bottle__of__antihistamines.n.01_1 shelf.n.01_2)
         (inside first-aid_kit.n.01_1 shelf.n.01_1) 
         (inside bottle__of__aspirin.n.01_1 shelf.n.01_1) 
@@ -36,11 +36,11 @@
 
     (:goal 
         (and 
-            (inside ?bottle__of__antihistamines.n.01_1 ?plastic_bag.n.01_1)
+            (inside ?bottle__of__antihistamines.n.01_1 ?sack.n.01_1)
             (ontop ?first-aid_kit.n.01_1 ?checkout.n.03_1) 
-            (inside ?bottle__of__aspirin.n.01_1 ?plastic_bag.n.01_1) 
-            (inside ?bandage.n.01_1 ?plastic_bag.n.01_1) 
-            (ontop ?plastic_bag.n.01_1 ?checkout.n.03_1) 
+            (inside ?bottle__of__aspirin.n.01_1 ?sack.n.01_1)
+            (inside ?bandage.n.01_1 ?sack.n.01_1)
+            (ontop ?sack.n.01_1 ?checkout.n.03_1)
             (nextto ?credit_card.n.01_1 ?cash_register.n.01_1)
 
         )

bddl/activity_definitions/buy_salad_greens/problem0.bddl

@@ -7,7 +7,7 @@
         lettuce.n.03_1 - lettuce.n.03
         shelf.n.01_1 - shelf.n.01
         spinach.n.02_1 - spinach.n.02
-        plastic_bag.n.01_1 - plastic_bag.n.01
+        sack.n.01_1 - sack.n.01
         money.n.01_1 money.n.01_2 - money.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
@@ -17,7 +17,7 @@
         (ontop cash_register.n.01_1 checkout.n.03_1)
         (ontop lettuce.n.03_1 shelf.n.01_1) 
         (ontop spinach.n.02_1 shelf.n.01_1) 
-        (ontop plastic_bag.n.01_1 checkout.n.03_1) 
+        (ontop sack.n.01_1 checkout.n.03_1)
         (ontop money.n.01_1 checkout.n.03_1) 
         (ontop money.n.01_2 checkout.n.03_1) 
         (inroom floor.n.01_1 grocery_store) 
@@ -32,10 +32,10 @@
                 (?money.n.01 - money.n.01)
                 (inside ?money.n.01 ?cash_register.n.01_1)
             )
-            (ontop ?plastic_bag.n.01_1 ?checkout.n.03_1) 
+            (ontop ?sack.n.01_1 ?checkout.n.03_1)
             (and 
-                (inside ?lettuce.n.03_1 ?plastic_bag.n.01_1) 
-                (inside ?spinach.n.02_1 ?plastic_bag.n.01_1)
+                (inside ?lettuce.n.03_1 ?sack.n.01_1)
+                (inside ?spinach.n.02_1 ?sack.n.01_1)
             )
         )
     )

bddl/activity_definitions/buying_groceries/problem0.bddl

@@ -4,7 +4,7 @@
     (:objects
         cash_register.n.01_1 - cash_register.n.01
         checkout.n.03_1 - checkout.n.03
-        plastic_bag.n.01_1 plastic_bag.n.01_2 - plastic_bag.n.01
+        sack.n.01_1 sack.n.01_2 - sack.n.01
         prawn.n.01_1 - prawn.n.01
         shelf.n.01_1 shelf.n.01_2 shelf.n.01_3 shelf.n.01_4 - shelf.n.01
         bottle__of__apple_juice.n.01_1 - bottle__of__apple_juice.n.01
@@ -20,8 +20,8 @@
 
     (:init 
         (ontop cash_register.n.01_1 checkout.n.03_1)
-        (ontop plastic_bag.n.01_1 checkout.n.03_1) 
-        (ontop plastic_bag.n.01_2 checkout.n.03_1) 
+        (ontop sack.n.01_1 checkout.n.03_1)
+        (ontop sack.n.01_2 checkout.n.03_1)
         (inside prawn.n.01_1 shelf.n.01_4)
         (inside bottle__of__apple_juice.n.01_1 shelf.n.01_1) 
         (inside carton__of__milk.n.01_1 shelf.n.01_1) 
@@ -46,31 +46,31 @@
     (:goal 
         (and 
             (exists 
-                (?plastic_bag.n.01 - plastic_bag.n.01) 
+                (?sack.n.01 - sack.n.01)
                 (and 
-                    (inside ?carton__of__milk.n.01_1 ?plastic_bag.n.01) 
-                    (inside ?bottle__of__apple_juice.n.01_1 ?plastic_bag.n.01) 
-                    (inside ?prawn.n.01_1 ?plastic_bag.n.01)
+                    (inside ?carton__of__milk.n.01_1 ?sack.n.01)
+                    (inside ?bottle__of__apple_juice.n.01_1 ?sack.n.01)
+                    (inside ?prawn.n.01_1 ?sack.n.01)
                 )
             ) 
             (exists 
-                (?plastic_bag.n.01 - plastic_bag.n.01) 
+                (?sack.n.01 - sack.n.01)
                 (and 
-                    (inside ?bottle__of__peanut_butter.n.01_1 ?plastic_bag.n.01) 
-                    (inside ?bag__of__brown_rice.n.01_1 ?plastic_bag.n.01) 
-                    (inside ?banana.n.02_1 ?plastic_bag.n.01)
+                    (inside ?bottle__of__peanut_butter.n.01_1 ?sack.n.01)
+                    (inside ?bag__of__brown_rice.n.01_1 ?sack.n.01)
+                    (inside ?banana.n.02_1 ?sack.n.01)
                 )
             ) 
             (forall
                 (?money.n.01 - money.n.01) 
                 (inside ?money.n.01 ?cash_register.n.01_1)
             ) 
             (forall
-                (?plastic_bag.n.01 - plastic_bag.n.01)
+                (?sack.n.01 - sack.n.01)
                 (imply 
-                    (inside ?carton__of__milk.n.01_1 ?plastic_bag.n.01) 
+                    (inside ?carton__of__milk.n.01_1 ?sack.n.01_1)
                     (not 
-                        (inside ?banana.n.02_1 ?plastic_bag.n.01)
+                        (inside ?banana.n.02_1 ?sack.n.01)
                     )
                 ) 
             )

bddl/activity_definitions/carrying_in_groceries/problem0.bddl

@@ -4,7 +4,7 @@
     (:objects
         car.n.01_1 - car.n.01
         driveway.n.01_1 - driveway.n.01
-        plastic_bag.n.01_1 plastic_bag.n.01_2 - plastic_bag.n.01
+        sack.n.01_1 sack.n.01_2 - sack.n.01
         bacon.n.01_1 - bacon.n.01
         beefsteak_tomato.n.01_1 - beefsteak_tomato.n.01
         pack__of__bread.n.01_1 - pack__of__bread.n.01
@@ -17,12 +17,12 @@
 
     (:init 
         (ontop car.n.01_1 driveway.n.01_1) 
-        (inside plastic_bag.n.01_1 car.n.01_1) 
-        (inside plastic_bag.n.01_2 car.n.01_1) 
-        (inside bacon.n.01_1 plastic_bag.n.01_1) 
-        (inside beefsteak_tomato.n.01_1 plastic_bag.n.01_1) 
-        (inside pack__of__bread.n.01_1 plastic_bag.n.01_1) 
-        (inside carton__of__milk.n.01_1 plastic_bag.n.01_2) 
+        (inside sack.n.01_1 car.n.01_1)
+        (inside sack.n.01_2 car.n.01_1)
+        (inside bacon.n.01_1 sack.n.01_1)
+        (inside beefsteak_tomato.n.01_1 sack.n.01_1)
+        (inside pack__of__bread.n.01_1 sack.n.01_1)
+        (inside carton__of__milk.n.01_1 sack.n.01_2)
         (inroom driveway.n.01_1 garden) 
         (inroom countertop.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen) 

bddl/activity_definitions/changing_light_bulbs/problem0.bddl

@@ -13,8 +13,8 @@
     (:init 
         (ontop table_lamp.n.01_2 floor.n.01_2) 
         (ontop light_bulb.n.01_1 breakfast_table.n.01_1) 
-        (ontop light_bulb.n.01_2 breakfast_table.n.01_1) 
-        (not 
+        (ontop light_bulb.n.01_2 breakfast_table.n.01_1)
+        (not
             (toggled_on table_lamp.n.01_1)
         ) 
         (not 

bddl/activity_definitions/clean_a_backpack/problem0.bddl

@@ -20,7 +20,7 @@
     (:init
         (filled detergent__bottle.n.01_1 detergent.n.02_1)
         (ontop detergent__bottle.n.01_1 floor.n.01_1)
-        (ontop backpack.n.01_1 hand_towel.n.01_1)
+        (ontop backpack.n.01_1 floor.n.01_1)
         (ontop bucket.n.01_1 floor.n.01_1)
         (ontop rag.n.01_1 clothes_dryer.n.01_1)
         (ontop hand_towel.n.01_1 washer.n.03_1)
@@ -38,7 +38,6 @@
             (not 
                 (covered ?backpack.n.01_1 ?dust.n.01_1)
             ) 
-            (ontop ?backpack.n.01_1 ?hand_towel.n.01_1) 
         )
     )
 )

bddl/activity_definitions/clean_a_beer_keg/problem0.bddl

@@ -28,7 +28,6 @@
         (inroom countertop.n.01_1 kitchen)
         (ontop agent.n.01_1 floor.n.01_1) 
         (filled disinfectant__bottle.n.01_1 disinfectant.n.01_1) 
-        (ontop disinfectant__bottle.n.01_1 floor.n.01_1)
     )
 
     (:goal 

bddl/activity_definitions/clean_a_glass_windshield/problem0.bddl

@@ -13,7 +13,7 @@
     )
 
     (:init 
-        (covered rag.n.01_1 water.n.06_1) 
+        (saturated rag.n.01_1 water.n.06_1)
         (covered windshield.n.01_1 stain.n.01_1) 
         (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1)
         (ontop liquid_soap__bottle.n.01_1 floor.n.01_1)

bddl/activity_definitions/clean_a_leather_belt/problem0.bddl

@@ -4,8 +4,6 @@
     (:objects
         belt.n.02_1 - belt.n.02
         sink.n.01_1 - sink.n.01
-        polish.n.03_1 - polish.n.03
-        polish__bottle.n.01_1 - polish__bottle.n.01
         cabinet.n.01_1 - cabinet.n.01
         dishtowel.n.01_1 - dishtowel.n.01
         clothes_dryer.n.01_1 - clothes_dryer.n.01
@@ -18,8 +16,6 @@
     (:init
         (ontop belt.n.02_1 clothes_dryer.n.01_1)
         (ontop dishtowel.n.01_1 clothes_dryer.n.01_1)
-        (filled polish__bottle.n.01_1 polish.n.03_1) 
-        (inside polish__bottle.n.01_1 cabinet.n.01_1)
         (covered belt.n.02_1 dust.n.01_1)
         (insource sink.n.01_1 water.n.06_1) 
         (inroom sink.n.01_1 utility_room) 
@@ -34,7 +30,6 @@
             (not 
                 (covered ?belt.n.02_1 ?dust.n.01_1)
             )
-            (covered ?belt.n.02_1 ?polish.n.03_1)
         )
     )
 )

bddl/activity_definitions/clean_a_raincoat/problem0.bddl

@@ -4,7 +4,6 @@
     (:objects
         stain.n.01_1 - stain.n.01
         raincoat.n.01_1 - raincoat.n.01
-        water.n.06_1 - water.n.06
         washer.n.03_1 - washer.n.03
         clothes_dryer.n.01_1 - clothes_dryer.n.01
         cabinet.n.01_1 - cabinet.n.01
@@ -24,17 +23,13 @@
         (inroom floor.n.01_1 utility_room) 
         (inroom cabinet.n.01_1 utility_room) 
         (ontop agent.n.01_1 floor.n.01_1)
-        (future water.n.06_1)
     )
 
     (:goal 
         (and 
             (not 
                 (covered ?raincoat.n.01_1 ?stain.n.01_1)
-            ) 
-            (not 
-                (covered ?raincoat.n.01_1 ?water.n.06_1)
-            ) 
+            )
         )
     )
-)
+)

bddl/activity_definitions/clean_a_rug/problem0.bddl

@@ -10,7 +10,7 @@
     )
 
     (:init 
-        (ontop vacuum.n.04_1 rug.n.01_1) 
+        (ontop vacuum.n.04_1 floor.n.01_1)
         (covered rug.n.01_1 dust.n.01_1) 
         (ontop agent.n.01_1 floor.n.01_1) 
         (inroom floor.n.01_1 utility_room) 

bddl/activity_definitions/clean_a_sauna_suit/problem0.bddl

@@ -31,10 +31,7 @@
         (and 
             (not 
                 (covered ?sweat_suit.n.01_1 ?stain.n.01_1)
-            ) 
-            (not 
-                (covered ?sweat_suit.n.01_1 ?water.n.06_1)
-            ) 
+            )
             (not 
                 (saturated ?sweat_suit.n.01_1 ?water.n.06_1)
             )