Fully remove the assembled predicate

StanfordVL · Mar 12, 2024 · c0f746e · c0f746e
1 parent a799b95
commit c0f746e
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Showing 6 changed files with 2 additions and 53 deletions.
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/bddl_verification.py b/bddl/bddl_verification.py
@@ -298,9 +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}"

diff --git a/bddl/data_generation/get_syn_prop_annots_canonical.py b/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",

diff --git a/bddl/generated_data/synsets_to_descriptors.json b/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"

diff --git a/bddl/knowledge_base/models.py b/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)

diff --git a/bddl/trivial_backend.py b/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"