disallow cloth to be the second argument of ontop/inside/under

StanfordVL · Feb 15, 2024 · df9dc2a · df9dc2a
1 parent 19957e6
commit df9dc2a
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Showing 48 changed files with 179 additions and 188 deletions.
diff --git a/bddl/activity_definitions/bag_groceries/problem0.bddl b/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)
             )
         )
     )

diff --git a/bddl/activity_definitions/bringing_in_kindling/problem0.bddl b/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) 

diff --git a/bddl/activity_definitions/bringing_paper_to_recycling/problem0.bddl b/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) 

diff --git a/bddl/activity_definitions/buy_and_clean_mussels/problem0.bddl b/bddl/activity_definitions/buy_and_clean_mussels/problem0.bddl
@@ -43,8 +43,7 @@
                 (?mussel.n.01 - mussel.n.01)
                 (and
                     (covered ?mussel.n.01 ?water.n.06_1)
-                    (ontop ?mussel.n.01 ?paper_towel.n.01_1)
-                    (not 
+                    (not
                         (covered ?mussel.n.01 ?sand.n.04_1)
                     )
                 )

diff --git a/bddl/activity_definitions/buy_home_use_medical_supplies/problem0.bddl b/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)
 
         )

diff --git a/bddl/activity_definitions/buy_salad_greens/problem0.bddl b/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)
             )
         )
     )

diff --git a/bddl/activity_definitions/buying_groceries/problem0.bddl b/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_1) 
+                    (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)
                     )
                 ) 
             )

diff --git a/bddl/activity_definitions/carrying_in_groceries/problem0.bddl b/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) 

diff --git a/bddl/activity_definitions/clean_a_backpack/problem0.bddl b/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) 
         )
     )
 )
diff --git a/bddl/activity_definitions/clean_a_rug/problem0.bddl b/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) 

diff --git a/bddl/activity_definitions/cleaning_bedroom/problem0.bddl b/bddl/activity_definitions/cleaning_bedroom/problem0.bddl
@@ -58,7 +58,7 @@
                 )
             ) 
             (nextto ?vacuum.n.04_1 ?bed.n.01_1) 
-            (ontop ?painting.n.01_1 ?sheet.n.03_1)
+            (ontop ?painting.n.01_1 ?bed.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/cleaning_up_plates_and_food/problem0.bddl b/bddl/activity_definitions/cleaning_up_plates_and_food/problem0.bddl
@@ -6,7 +6,6 @@
         floor.n.01_1 - floor.n.01
         pizza.n.01_1 pizza.n.01_2 - pizza.n.01
         white_rice.n.01_1 - white_rice.n.01
-        aluminum_foil.n.01_1 aluminum_foil.n.01_2 - aluminum_foil.n.01
         bowl.n.01_1 - bowl.n.01
         ashcan.n.01_1 - ashcan.n.01
         breakfast_table.n.01_1 - breakfast_table.n.01
@@ -23,8 +22,6 @@
         (ontop pizza.n.01_1 plate.n.04_1) 
         (ontop pizza.n.01_2 plate.n.04_2) 
         (covered plate.n.04_3 white_rice.n.01_1)
-        (inside aluminum_foil.n.01_1 cabinet.n.01_1) 
-        (inside aluminum_foil.n.01_2 cabinet.n.01_1) 
         (inside bowl.n.01_1 cabinet.n.01_1) 
         (ontop agent.n.01_1 floor.n.01_1) 
         (ontop ashcan.n.01_1 floor.n.01_1)
@@ -37,14 +34,10 @@
 
     (:goal 
         (and 
-            (forpairs 
+            (forall
                 (?pizza.n.01 - pizza.n.01) 
-                (?aluminum_foil.n.01 - aluminum_foil.n.01) 
-                (and 
-                    (ontop ?pizza.n.01 ?aluminum_foil.n.01)
-                    (inside ?pizza.n.01 ?electric_refrigerator.n.01_1)
-                )
-            ) 
+                (inside ?pizza.n.01 ?electric_refrigerator.n.01_1)
+            )
             (contains ?bowl.n.01_1 ?white_rice.n.01_1)
             (inside ?bowl.n.01_1 ?electric_refrigerator.n.01_1)
             (forall 

diff --git a/bddl/activity_definitions/clearing_table_after_snacks/problem0.bddl b/bddl/activity_definitions/clearing_table_after_snacks/problem0.bddl
@@ -14,8 +14,8 @@
     )
 
     (:init 
-        (ontop half__apple.n.01_1 dinner_napkin.n.01_1) 
-        (ontop half__apple.n.01_2 dinner_napkin.n.01_1) 
+        (ontop half__apple.n.01_1 breakfast_table.n.01_1)
+        (ontop half__apple.n.01_2 breakfast_table.n.01_1)
         (ontop plate.n.04_1 breakfast_table.n.01_1)
         (ontop dinner_napkin.n.01_1 breakfast_table.n.01_1) 
         (ontop compost_bin.n.01_1 floor.n.01_2)

diff --git a/bddl/activity_definitions/cook_sweet_potatoes/problem0.bddl b/bddl/activity_definitions/cook_sweet_potatoes/problem0.bddl
@@ -3,7 +3,7 @@
 
     (:objects
         yam.n.03_1 yam.n.03_2 - yam.n.03
-        aluminum_foil.n.01_1 - aluminum_foil.n.01
+        plate.n.04_1 plate.n.04_2 - plate.n.04
         oven.n.01_1 - oven.n.01
         salt.n.02_1 - salt.n.02
         salt__shaker.n.01_1 - salt__shaker.n.01
@@ -12,9 +12,10 @@
     )
 
     (:init 
-        (ontop yam.n.03_1 aluminum_foil.n.01_1)
-        (ontop yam.n.03_2 aluminum_foil.n.01_1)
-        (ontop aluminum_foil.n.01_1 oven.n.01_1) 
+        (ontop yam.n.03_1 plate.n.04_1)
+        (ontop yam.n.03_2 plate.n.04_2)
+        (ontop plate.n.04_1 oven.n.01_1)
+        (ontop plate.n.04_2 oven.n.01_1)
         (not 
             (cooked yam.n.03_1)
         ) 

diff --git a/bddl/activity_definitions/doing_housework_for_adult/problem0.bddl b/bddl/activity_definitions/doing_housework_for_adult/problem0.bddl
@@ -18,12 +18,12 @@
     )
 
     (:init 
-        (ontop vacuum.n.04_1 rug.n.01_1) 
+        (ontop vacuum.n.04_1 floor.n.01_1)
         (covered rug.n.01_1 lint.n.01_1)
         (covered rug.n.01_1 dust.n.01_1)
         (covered window.n.01_1 dust.n.01_1)
-        (ontop pillow.n.01_1 rug.n.01_1) 
-        (ontop pillow.n.01_2 rug.n.01_1) 
+        (ontop pillow.n.01_1 floor.n.01_1)
+        (ontop pillow.n.01_2 floor.n.01_1)
         (ontop rug.n.01_1 floor.n.01_1)
         (ontop mug.n.04_1 coffee_table.n.01_1)
         (ontop mug.n.04_2 coffee_table.n.01_1)