diff --git a/bddl/activity_definitions/bag_groceries/problem0.bddl b/bddl/activity_definitions/bag_groceries/problem0.bddl
index 4f709fdd..d47d8daf 100644
--- 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
index ff9adf5d..d7df08d4 100644
--- 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
index 85f9f158..7be9c10f 100644
--- 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
index 5683c1fe..66b791c3 100644
--- 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
index 1a1a73a7..c650dc13 100644
--- 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
index 5714f8b4..0e6242e5 100644
--- 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
index 3b2f2e2f..bbdb8872 100644
--- 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) 
@@ -46,19 +46,19 @@
     (: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
@@ -66,11 +66,11 @@
                 (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
index 2d093a71..d4e2e1ea 100644
--- 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
index 4cdb4ac9..d630177e 100644
--- 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) 
         )
     )
 )
\ No newline at end of file
diff --git a/bddl/activity_definitions/clean_a_rug/problem0.bddl b/bddl/activity_definitions/clean_a_rug/problem0.bddl
index e17e2af9..12c31d8f 100644
--- 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
index 0f1d44d8..7550cc2d 100644
--- 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
index 0532b16d..28b755e5 100644
--- 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
index ddd3dd6c..a0a8d818 100644
--- 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
index 2b11f1e4..959e00cf 100644
--- 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
index 6c4a321d..e5e73267 100644
--- 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)
diff --git a/bddl/activity_definitions/emptying_trash_cans/problem0.bddl b/bddl/activity_definitions/emptying_trash_cans/problem0.bddl
index 627d4cf4..696c29af 100644
--- a/bddl/activity_definitions/emptying_trash_cans/problem0.bddl
+++ b/bddl/activity_definitions/emptying_trash_cans/problem0.bddl
@@ -7,7 +7,7 @@
         rag.n.01_1 rag.n.01_2 - rag.n.01
         newspaper.n.03_1 - newspaper.n.03
         water_bottle.n.01_1 - water_bottle.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
         countertop.n.01_1 - countertop.n.01
         agent.n.01_1 - agent.n.01
     )
@@ -19,8 +19,8 @@
         (inside rag.n.01_2 ashcan.n.01_1) 
         (inside newspaper.n.03_1 ashcan.n.01_2) 
         (inside water_bottle.n.01_1 ashcan.n.01_2) 
-        (ontop plastic_bag.n.01_1 countertop.n.01_1) 
-        (ontop plastic_bag.n.01_2 countertop.n.01_1) 
+        (ontop sack.n.01_1 countertop.n.01_1) 
+        (ontop sack.n.01_2 countertop.n.01_1) 
         (inroom countertop.n.01_1 kitchen) 
         (inroom floor.n.01_1 kitchen) 
         (ontop agent.n.01_1 floor.n.01_1)
@@ -29,23 +29,23 @@
     (:goal 
         (and 
             (forall 
-                (?plastic_bag.n.01 - plastic_bag.n.01)
-                (ontop ?plastic_bag.n.01 ?floor.n.01_1)
+                (?sack.n.01 - sack.n.01)
+                (ontop ?sack.n.01 ?floor.n.01_1)
             )
             (forall 
                 (?rag.n.01 - rag.n.01) 
                 (exists 
-                    (?plastic_bag.n.01 - plastic_bag.n.01)
-                    (inside ?rag.n.01 ?plastic_bag.n.01)
+                    (?sack.n.01 - sack.n.01)
+                    (inside ?rag.n.01 ?sack.n.01)
                 )
             ) 
             (exists 
-                (?plastic_bag.n.01 - plastic_bag.n.01)
-                (inside ?newspaper.n.03_1 ?plastic_bag.n.01)
+                (?sack.n.01 - sack.n.01)
+                (inside ?newspaper.n.03_1 ?sack.n.01)
             )
             (exists 
-                (?plastic_bag.n.01 - plastic_bag.n.01)
-                (inside ?water_bottle.n.01_1 ?plastic_bag.n.01)
+                (?sack.n.01 - sack.n.01)
+                (inside ?water_bottle.n.01_1 ?sack.n.01)
             )
         )
     )
diff --git a/bddl/activity_definitions/freeze_lasagna/problem0.bddl b/bddl/activity_definitions/freeze_lasagna/problem0.bddl
index 4e6c041f..19bd77eb 100644
--- a/bddl/activity_definitions/freeze_lasagna/problem0.bddl
+++ b/bddl/activity_definitions/freeze_lasagna/problem0.bddl
@@ -46,7 +46,7 @@
             (forpairs 
                 (?aluminum_foil.n.01 - aluminum_foil.n.01) 
                 (?lasagna.n.01 - lasagna.n.01) 
-                (ontop ?lasagna.n.01 ?aluminum_foil.n.01)
+                (overlaid ?aluminum_foil.n.01 ?lasagna.n.01)
             ) 
             (forpairs
                 (?lasagna.n.01 - lasagna.n.01)
diff --git a/bddl/activity_definitions/installing_carpet/problem0.bddl b/bddl/activity_definitions/installing_carpet/problem0.bddl
index 4338dd6c..4a7f9ba5 100644
--- a/bddl/activity_definitions/installing_carpet/problem0.bddl
+++ b/bddl/activity_definitions/installing_carpet/problem0.bddl
@@ -3,17 +3,18 @@
 
     (:objects
         rug.n.01_1 rug.n.01_2 rug.n.01_3 - rug.n.01
-        table.n.02_1 - table.n.02
+        table.n.02_1 table.n.02_2 - table.n.02
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
     
     (:init 
         (ontop rug.n.01_1 table.n.02_1) 
-        (ontop rug.n.01_2 rug.n.01_1) 
-        (ontop rug.n.01_3 rug.n.01_2) 
+        (ontop rug.n.01_2 table.n.02_1)
+        (ontop rug.n.01_3 table.n.02_2)
         (inroom floor.n.01_1 living_room) 
-        (inroom table.n.02_1 living_room) 
+        (inroom table.n.02_1 living_room)
+        (inroom table.n.02_2 living_room)
         (ontop agent.n.01_1 floor.n.01_1)
     )
     
diff --git a/bddl/activity_definitions/ironing_bedsheets/problem0.bddl b/bddl/activity_definitions/ironing_bedsheets/problem0.bddl
index 0a24c0e0..2a87c8a6 100644
--- a/bddl/activity_definitions/ironing_bedsheets/problem0.bddl
+++ b/bddl/activity_definitions/ironing_bedsheets/problem0.bddl
@@ -11,9 +11,9 @@
     )
     
     (:init 
-        (ontop ironing_board.n.01_1 floor.n.01_1) 
+        (ontop ironing_board.n.01_1 floor.n.01_1)
         (ontop sheet.n.03_1 ironing_board.n.01_1) 
-        (ontop iron.n.04_1 sheet.n.03_1) 
+        (ontop iron.n.04_1 ironing_board.n.01_1)
         (covered sheet.n.03_1 wrinkle.n.01_1) 
         (inroom floor.n.01_1 bedroom) 
         (ontop agent.n.01_1 floor.n.01_1)
diff --git a/bddl/activity_definitions/ironing_curtains/problem0.bddl b/bddl/activity_definitions/ironing_curtains/problem0.bddl
index b8ffb1c9..9ee4ee26 100644
--- a/bddl/activity_definitions/ironing_curtains/problem0.bddl
+++ b/bddl/activity_definitions/ironing_curtains/problem0.bddl
@@ -13,7 +13,7 @@
     (:init 
         (ontop ironing_board.n.01_1 floor.n.01_1) 
         (ontop curtain.n.01_1 ironing_board.n.01_1) 
-        (ontop iron.n.04_1 curtain.n.01_1) 
+        (ontop iron.n.04_1 ironing_board.n.01_1)
         (covered curtain.n.01_1 wrinkle.n.01_1) 
         (inroom floor.n.01_1 empty_room) 
         (ontop agent.n.01_1 floor.n.01_1)
diff --git a/bddl/activity_definitions/laying_restaurant_table_for_dinner/problem0.bddl b/bddl/activity_definitions/laying_restaurant_table_for_dinner/problem0.bddl
index 17e46f99..3471ba61 100644
--- a/bddl/activity_definitions/laying_restaurant_table_for_dinner/problem0.bddl
+++ b/bddl/activity_definitions/laying_restaurant_table_for_dinner/problem0.bddl
@@ -89,7 +89,7 @@
             (forpairs
                 (?dinner_napkin.n.01 - dinner_napkin.n.01)
                 (?tablefork.n.01 - tablefork.n.01)
-                (ontop ?tablefork.n.01 ?dinner_napkin.n.01)
+                (nextto ?tablefork.n.01 ?dinner_napkin.n.01)
             )
             (forpairs
                 (?tablespoon.n.02 - tablespoon.n.02)
diff --git a/bddl/activity_definitions/loading_shopping_into_car/problem0.bddl b/bddl/activity_definitions/loading_shopping_into_car/problem0.bddl
index d7bad1dd..4c819167 100644
--- a/bddl/activity_definitions/loading_shopping_into_car/problem0.bddl
+++ b/bddl/activity_definitions/loading_shopping_into_car/problem0.bddl
@@ -5,7 +5,7 @@
         car.n.01_1 - car.n.01
         driveway.n.01_1 - driveway.n.01
         pineapple.n.02_1 pineapple.n.02_2 pineapple.n.02_3 - pineapple.n.02
-        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
         chicken.n.01_1 - chicken.n.01
         wine_bottle.n.01_1 wine_bottle.n.01_2 - wine_bottle.n.01
         egg.n.02_1 - egg.n.02
@@ -16,17 +16,17 @@
     
     (:init 
         (ontop car.n.01_1 driveway.n.01_1) 
-        (inside pineapple.n.02_1 plastic_bag.n.01_1) 
-        (inside pineapple.n.02_2 plastic_bag.n.01_1) 
-        (inside pineapple.n.02_3 plastic_bag.n.01_1) 
-        (inside egg.n.02_1 plastic_bag.n.01_2) 
-        (inside bag__of__jerky.n.01_1 plastic_bag.n.01_2)
-        (inside chicken.n.01_1 plastic_bag.n.01_2)
+        (inside pineapple.n.02_1 sack.n.01_1) 
+        (inside pineapple.n.02_2 sack.n.01_1) 
+        (inside pineapple.n.02_3 sack.n.01_1) 
+        (inside egg.n.02_1 sack.n.01_2) 
+        (inside bag__of__jerky.n.01_1 sack.n.01_2)
+        (inside chicken.n.01_1 sack.n.01_2)
         (frozen chicken.n.01_1)
         (ontop wine_bottle.n.01_1 driveway.n.01_1)
         (ontop wine_bottle.n.01_2 driveway.n.01_1)
-        (ontop plastic_bag.n.01_1 driveway.n.01_1) 
-        (ontop plastic_bag.n.01_2 driveway.n.01_1) 
+        (ontop sack.n.01_1 driveway.n.01_1) 
+        (ontop sack.n.01_2 driveway.n.01_1) 
         (inroom driveway.n.01_1 garden) 
         (inroom floor.n.01_1 garden) 
         (ontop agent.n.01_1 floor.n.01_1)
@@ -39,8 +39,8 @@
                 (inside ?wine_bottle.n.01 ?car.n.01_1)
             )
             (forall 
-                (?plastic_bag.n.01 - plastic_bag.n.01)
-                (inside ?plastic_bag.n.01 ?car.n.01_1)
+                (?sack.n.01 - sack.n.01)
+                (inside ?sack.n.01 ?car.n.01_1)
             )
         )
     )
diff --git a/bddl/activity_definitions/make_a_christmas_gift_box/problem0.bddl b/bddl/activity_definitions/make_a_christmas_gift_box/problem0.bddl
index cb385fad..607bfe1d 100644
--- a/bddl/activity_definitions/make_a_christmas_gift_box/problem0.bddl
+++ b/bddl/activity_definitions/make_a_christmas_gift_box/problem0.bddl
@@ -22,7 +22,7 @@
     (:goal 
         (and 
             (overlaid ?wrapping_paper.n.01_1 ?packing_box.n.02_1)
-            (ontop ?bell.n.01_1 ?wrapping_paper.n.01_1)
+            (inside ?bell.n.01_1 ?packing_box.n.02_1)
         )
     )
 )
\ No newline at end of file
diff --git a/bddl/activity_definitions/make_gift_bags_for_baby_showers/problem0.bddl b/bddl/activity_definitions/make_gift_bags_for_baby_showers/problem0.bddl
index 89ebf856..43ae2c19 100644
--- a/bddl/activity_definitions/make_gift_bags_for_baby_showers/problem0.bddl
+++ b/bddl/activity_definitions/make_gift_bags_for_baby_showers/problem0.bddl
@@ -2,7 +2,6 @@
     (:domain omnigibson)
 
     (:objects
-        rug.n.01_1 - rug.n.01
         floor.n.01_1 - floor.n.01
         doll.n.01_1 doll.n.01_2 doll.n.01_3 - doll.n.01
         shelf.n.01_1 - shelf.n.01
@@ -13,7 +12,6 @@
     )
     
     (:init 
-        (ontop rug.n.01_1 floor.n.01_1) 
         (inside doll.n.01_1 shelf.n.01_1) 
         (inside doll.n.01_2 shelf.n.01_1) 
         (inside doll.n.01_3 shelf.n.01_1) 
@@ -33,7 +31,7 @@
         (and 
             (forall 
                 (?sack.n.01 - sack.n.01) 
-                (ontop ?sack.n.01 ?rug.n.01_1)
+                (ontop ?sack.n.01 ?floor.n.01_1)
             ) 
             (forpairs 
                 (?doll.n.01 - doll.n.01) 
diff --git a/bddl/activity_definitions/packing_cleaning_suppies_into_car/problem0.bddl b/bddl/activity_definitions/packing_cleaning_suppies_into_car/problem0.bddl
index c46b6f47..aac47a74 100644
--- a/bddl/activity_definitions/packing_cleaning_suppies_into_car/problem0.bddl
+++ b/bddl/activity_definitions/packing_cleaning_suppies_into_car/problem0.bddl
@@ -17,7 +17,7 @@
         (ontop face_mask.n.01_1 backpack.n.01_1)
         (ontop rag.n.01_1 floor.n.01_1) 
         (ontop backpack.n.01_1 driveway.n.01_1) 
-        (ontop scrub_brush.n.01_1 rag.n.01_1) 
+        (ontop scrub_brush.n.01_1 driveway.n.01_1)
         (inroom floor.n.01_1 garden) 
         (inroom driveway.n.01_1 garden) 
         (ontop agent.n.01_1 floor.n.01_1)
diff --git a/bddl/activity_definitions/picking_up_prescriptions/problem0.bddl b/bddl/activity_definitions/picking_up_prescriptions/problem0.bddl
index c1ddae9b..901ad5b1 100644
--- a/bddl/activity_definitions/picking_up_prescriptions/problem0.bddl
+++ b/bddl/activity_definitions/picking_up_prescriptions/problem0.bddl
@@ -6,7 +6,7 @@
         pill_bottle.n.01_1 pill_bottle.n.01_2 - pill_bottle.n.01
         bottle__of__antihistamines.n.01_1 bottle__of__antihistamines.n.01_2 - bottle__of__antihistamines.n.01
         shelf.n.01_1 shelf.n.01_2 - shelf.n.01
-        plastic_bag.n.01_1 - plastic_bag.n.01
+        sack.n.01_1 - sack.n.01
         checkout.n.03_1 - checkout.n.03
         printer.n.03_1 - printer.n.03
         desktop_computer.n.01_1 - desktop_computer.n.01
@@ -19,7 +19,7 @@
         (inside pill_bottle.n.01_2 shelf.n.01_1)
         (inside bottle__of__antihistamines.n.01_1 shelf.n.01_2)
         (inside bottle__of__antihistamines.n.01_2 shelf.n.01_2)
-        (ontop plastic_bag.n.01_1 checkout.n.03_1)
+        (ontop sack.n.01_1 checkout.n.03_1)
         (ontop printer.n.03_1 checkout.n.03_1)
         (ontop desktop_computer.n.01_1 checkout.n.03_1)
         (ontop sheet.n.02_1 printer.n.03_1)
@@ -34,11 +34,11 @@
         (and
             (forall
                 (?pill_bottle.n.01 - pill_bottle.n.01)
-                (inside ?pill_bottle.n.01 ?plastic_bag.n.01_1)
+                (inside ?pill_bottle.n.01 ?sack.n.01_1)
             )
             (forall
                 (?bottle__of__antihistamines.n.01 - bottle__of__antihistamines.n.01)
-                (inside ?bottle__of__antihistamines.n.01 ?plastic_bag.n.01_1)
+                (inside ?bottle__of__antihistamines.n.01 ?sack.n.01_1)
             )
         )
     )
diff --git a/bddl/activity_definitions/preparing_clothes_for_the_next_day/problem0.bddl b/bddl/activity_definitions/preparing_clothes_for_the_next_day/problem0.bddl
index 02df9b13..7e312041 100644
--- a/bddl/activity_definitions/preparing_clothes_for_the_next_day/problem0.bddl
+++ b/bddl/activity_definitions/preparing_clothes_for_the_next_day/problem0.bddl
@@ -40,7 +40,7 @@
                 (ontop ?boot.n.01 ?floor.n.01_2)
             )
             (ontop ?jean.n.01_1 ?bed.n.01_1) 
-            (ontop ?wallet.n.01_1 ?jean.n.01_1)
+            (ontop ?wallet.n.01_1 ?bed.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/putting_out_cat_food/problem0.bddl b/bddl/activity_definitions/putting_out_cat_food/problem0.bddl
index 25aa7be7..6dbc9404 100644
--- a/bddl/activity_definitions/putting_out_cat_food/problem0.bddl
+++ b/bddl/activity_definitions/putting_out_cat_food/problem0.bddl
@@ -4,7 +4,6 @@
     (:objects
         bowl.n.01_1 - bowl.n.01
         table.n.02_1 - table.n.02
-        rug.n.01_1 - rug.n.01
         cat_food.n.01_1 - cat_food.n.01
         cat_food__tin.n.01_1 - cat_food__tin.n.01
         floor.n.01_1 - floor.n.01
@@ -15,8 +14,7 @@
         (ontop bowl.n.01_1 table.n.02_1) 
         (filled cat_food__tin.n.01_1 cat_food.n.01_1) 
         (ontop cat_food__tin.n.01_1 table.n.02_1) 
-        (ontop rug.n.01_1 floor.n.01_1) 
-        (inroom floor.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)
     )
@@ -24,7 +22,7 @@
     (:goal 
         (and 
             (filled ?bowl.n.01_1 ?cat_food.n.01_1) 
-            (ontop ?bowl.n.01_1 rug.n.01_1)
+            (ontop ?bowl.n.01_1 floor.n.01_1)
         )
     )
 )
\ No newline at end of file
diff --git a/bddl/activity_definitions/putting_out_dog_food/problem0.bddl b/bddl/activity_definitions/putting_out_dog_food/problem0.bddl
index 49ceeeeb..353d3e08 100644
--- a/bddl/activity_definitions/putting_out_dog_food/problem0.bddl
+++ b/bddl/activity_definitions/putting_out_dog_food/problem0.bddl
@@ -2,7 +2,6 @@
     (:domain omnigibson)
 
     (:objects
-        rug.n.01_1 - rug.n.01
         floor.n.01_1 - floor.n.01
         dog_food.n.01_1 - dog_food.n.01
         dog_food__can.n.01_1 - dog_food__can.n.01
@@ -11,17 +10,16 @@
     )
     
     (:init 
-        (ontop rug.n.01_1 floor.n.01_1) 
-        (filled dog_food__can.n.01_1 dog_food.n.01_1) 
+        (filled dog_food__can.n.01_1 dog_food.n.01_1)
         (ontop bowl.n.01_1 floor.n.01_1) 
-        (ontop dog_food__can.n.01_1 rug.n.01_1) 
+        (ontop dog_food__can.n.01_1 floor.n.01_1)
         (inroom floor.n.01_1 living_room) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
     
     (:goal 
         (and 
-            (ontop ?bowl.n.01_1 ?rug.n.01_1) 
+            (ontop ?bowl.n.01_1 ?floor.n.01_1)
             (filled ?bowl.n.01_1 ?dog_food.n.01_1)
         )
     )
diff --git a/bddl/activity_definitions/putting_tablecloth_on_table/problem0.bddl b/bddl/activity_definitions/putting_tablecloth_on_table/problem0.bddl
index 101e4775..06666c73 100644
--- a/bddl/activity_definitions/putting_tablecloth_on_table/problem0.bddl
+++ b/bddl/activity_definitions/putting_tablecloth_on_table/problem0.bddl
@@ -20,7 +20,7 @@
     (:goal 
         (and 
             (overlaid ?tablecloth.n.01_1 ?breakfast_table.n.01_1)
-            (ontop ?pot_plant.n.01_1 ?tablecloth.n.01_1)
+            (ontop ?pot_plant.n.01_1 ?breakfast_table.n.01_1)
         )
     )
 )
\ No newline at end of file
diff --git a/bddl/activity_definitions/putting_up_Christmas_lights_outside/problem0.bddl b/bddl/activity_definitions/putting_up_Christmas_lights_outside/problem0.bddl
index 088d3c89..1066b040 100644
--- a/bddl/activity_definitions/putting_up_Christmas_lights_outside/problem0.bddl
+++ b/bddl/activity_definitions/putting_up_Christmas_lights_outside/problem0.bddl
@@ -55,7 +55,7 @@
                 (?scrub.n.01 - scrub.n.01)
                 (exists 
                     (?fairy_light.n.01 - fairy_light.n.01)
-                    (draped ?fairy_light.n.01 ?scrub.n.01)
+                    (ontop ?fairy_light.n.01 ?scrub.n.01)
                 )
             )
             (forall 
diff --git a/bddl/activity_definitions/putting_up_outdoor_holiday_decorations/problem0.bddl b/bddl/activity_definitions/putting_up_outdoor_holiday_decorations/problem0.bddl
index 1f7ecc4f..4cdb85a6 100644
--- a/bddl/activity_definitions/putting_up_outdoor_holiday_decorations/problem0.bddl
+++ b/bddl/activity_definitions/putting_up_outdoor_holiday_decorations/problem0.bddl
@@ -38,10 +38,10 @@
     (:goal 
         (and 
             (attached ?wreath.n.01_1 ?wall.n.01_1)
-            (draped ?fairy_light.n.01_1 ?pot_plant.n.01_1) 
+            (ontop ?fairy_light.n.01_1 ?pot_plant.n.01_1)
             (toggled_on ?fairy_light.n.01_1) 
             (ontop ?rose.n.01_1 ?lawn.n.01_1)
             (ontop ?pot_plant.n.01_1 ?lawn.n.01_1)
         )
     )
-)
\ No newline at end of file
+)
diff --git a/bddl/activity_definitions/raking_leaves/problem0.bddl b/bddl/activity_definitions/raking_leaves/problem0.bddl
index 23a6c302..ee79d360 100644
--- a/bddl/activity_definitions/raking_leaves/problem0.bddl
+++ b/bddl/activity_definitions/raking_leaves/problem0.bddl
@@ -8,7 +8,7 @@
         wall.n.01_1 - wall.n.01
         driveway.n.01_1 - driveway.n.01
         lawn.n.01_1 - lawn.n.01
-        plastic_bag.n.01_1 - plastic_bag.n.01
+        sack.n.01_1 - sack.n.01
         agent.n.01_1 - agent.n.01
     )
     
@@ -30,7 +30,7 @@
         (ontop entire_leaf.n.01_15 lawn.n.01_1) 
         (ontop entire_leaf.n.01_16 lawn.n.01_1) 
         (ontop rake.n.03_1 driveway.n.01_1) 
-        (ontop plastic_bag.n.01_1 driveway.n.01_1) 
+        (ontop sack.n.01_1 driveway.n.01_1) 
         (inroom floor.n.01_1 garden) 
         (inroom driveway.n.01_1 garden) 
         (inroom lawn.n.01_1 garden) 
@@ -42,7 +42,7 @@
         (and 
             (forall 
                 (?entire_leaf.n.01 - entire_leaf.n.01)
-                (inside ?entire_leaf.n.01 ?plastic_bag.n.01_1)
+                (inside ?entire_leaf.n.01 ?sack.n.01_1)
             )
         )
     )
diff --git a/bddl/activity_definitions/set_a_dinner_table/problem0.bddl b/bddl/activity_definitions/set_a_dinner_table/problem0.bddl
index 117daf5b..f335d99f 100644
--- a/bddl/activity_definitions/set_a_dinner_table/problem0.bddl
+++ b/bddl/activity_definitions/set_a_dinner_table/problem0.bddl
@@ -36,15 +36,15 @@
         (and 
             (ontop ?place_mat.n.01_1 ?breakfast_table.n.01_1)
             (unfolded ?place_mat.n.01_1)
-            (ontop ?plate.n.04_1 ?place_mat.n.01_1)
+            (ontop ?plate.n.04_1 ?breakfast_table.n.01_1)
             (ontop ?plate.n.04_2 ?plate.n.04_1)
             (nextto ?table_knife.n.01_1 ?plate.n.04_1)
             (nextto ?napkin.n.01_1 ?plate.n.04_2)
             (ontop ?napkin.n.01_1 ?breakfast_table.n.01_1)
             (folded ?napkin.n.01_1)
-            (ontop ?table_knife.n.01_1 ?napkin.n.01_1)
+            (nextto ?table_knife.n.01_1 ?napkin.n.01_1)
             (nextto ?tablefork.n.01_1 ?table_knife.n.01_1) 
-            (ontop ?tablefork.n.01_1 ?napkin.n.01_1)
+            (nextto ?tablefork.n.01_1 ?napkin.n.01_1)
             (nextto ?wineglass.n.01_1 ?plate.n.04_1)
             (nextto ?water_glass.n.02_1 ?wineglass.n.01_1) 
             (ontop ?wine_bottle.n.01_1 ?breakfast_table.n.01_1)
diff --git a/bddl/activity_definitions/set_a_fancy_table/problem0.bddl b/bddl/activity_definitions/set_a_fancy_table/problem0.bddl
index 695feeb7..cf562a8d 100644
--- a/bddl/activity_definitions/set_a_fancy_table/problem0.bddl
+++ b/bddl/activity_definitions/set_a_fancy_table/problem0.bddl
@@ -62,19 +62,19 @@
     (:goal 
         (and
             (ontop ?place_mat.n.01_1 ?breakfast_table.n.01_1)
-            (ontop ?plate.n.04_1 ?place_mat.n.01_1)
+            (ontop ?plate.n.04_1 ?breakfast_table.n.01_1)
             (ontop ?napkin.n.01_1 ?plate.n.04_1)
             (folded ?napkin.n.01_1)
-            (ontop ?tablespoon.n.02_1 ?place_mat.n.01_1) 
+            (ontop ?tablespoon.n.02_1 ?breakfast_table.n.01_1)
             (nextto ?tablespoon.n.02_1 ?plate.n.04_1)
-            (ontop ?teaspoon.n.02_1 ?place_mat.n.01_1) 
+            (ontop ?teaspoon.n.02_1 ?breakfast_table.n.01_1)
             (nextto ?teaspoon.n.02_1 ?tablespoon.n.02_1) 
-            (ontop ?tablefork.n.01_1 ?place_mat.n.01_1) 
+            (ontop ?tablefork.n.01_1 ?breakfast_table.n.01_1)
             (nextto ?tablefork.n.01_1 ?plate.n.04_1)
             (not
                 (nextto ?tablefork.n.01_1 ?tablespoon.n.02_1)
             )
-            (ontop ?saucer.n.02_1 ?place_mat.n.01_1)
+            (ontop ?saucer.n.02_1 ?breakfast_table.n.01_1)
             (ontop ?table_knife.n.01_1 ?saucer.n.02_1)
             (ontop ?wine_bottle.n.01_1 ?breakfast_table.n.01_1) 
             (nextto ?wineglass.n.01_1 ?plate.n.04_1)
diff --git a/bddl/activity_definitions/set_a_table_for_a_tea_party/problem0.bddl b/bddl/activity_definitions/set_a_table_for_a_tea_party/problem0.bddl
index e65d1397..94fe308c 100644
--- a/bddl/activity_definitions/set_a_table_for_a_tea_party/problem0.bddl
+++ b/bddl/activity_definitions/set_a_table_for_a_tea_party/problem0.bddl
@@ -80,7 +80,7 @@
 
             (nextto ?teacup.n.02_1 ?plate.n.04_1) 
             (ontop ?teapot.n.01_1 ?breakfast_table.n.01_1) 
-            (ontop ?plate.n.04_1 ?place_mat.n.01_1) 
+            (ontop ?plate.n.04_1 ?breakfast_table.n.01_1)
             (nextto ?tablefork.n.01_1 ?plate.n.04_1) 
             (overlaid ?napkin.n.01_1 ?plate.n.04_1) 
             (nextto ?teaspoon.n.02_1 ?tablefork.n.01_1) 
diff --git a/bddl/activity_definitions/set_up_a_hot_dog_bar/problem0.bddl b/bddl/activity_definitions/set_up_a_hot_dog_bar/problem0.bddl
index 0482341b..a7385009 100644
--- a/bddl/activity_definitions/set_up_a_hot_dog_bar/problem0.bddl
+++ b/bddl/activity_definitions/set_up_a_hot_dog_bar/problem0.bddl
@@ -77,7 +77,7 @@
             ) 
             (forall 
                 (?plate.n.04 - plate.n.04)
-                (ontop ?plate.n.04 ?tablecloth.n.01_1)
+                (ontop ?plate.n.04 ?coffee_table.n.01_1)
             )
             (forpairs 
                 (?tongs.n.01 - tongs.n.01)
@@ -85,10 +85,10 @@
                 (ontop ?tongs.n.01 ?plate.n.04)
             )
             (overlaid ?tablecloth.n.01_1 ?coffee_table.n.01_1) 
-            (ontop ?bottle__of__catsup.n.01_1 ?tablecloth.n.01_1)
-            (ontop ?bottle__of__mustard.n.01_1 ?tablecloth.n.01_1)
+            (ontop ?bottle__of__catsup.n.01_1 ?coffee_table.n.01_1)
+            (ontop ?bottle__of__mustard.n.01_1 ?coffee_table.n.01_1)
             (filled ?bowl.n.01_1 ?diced__vidalia_onion.n.01_1)
-            (ontop ?bowl.n.01_1 ?tablecloth.n.01_1)
+            (ontop ?bowl.n.01_1 ?coffee_table.n.01_1)
         )
     )
 )
\ No newline at end of file
diff --git a/bddl/activity_definitions/setting_the_table/problem0.bddl b/bddl/activity_definitions/setting_the_table/problem0.bddl
index dafc1def..c7332561 100644
--- a/bddl/activity_definitions/setting_the_table/problem0.bddl
+++ b/bddl/activity_definitions/setting_the_table/problem0.bddl
@@ -43,15 +43,13 @@
                 (?hamburger.n.01 - hamburger.n.01) 
                 (ontop ?hamburger.n.01 ?plate.n.04_1)
             ) 
-            (forpairs 
+            (forall
                 (?plate.n.04 - plate.n.04) 
-                (?place_mat.n.01 - place_mat.n.01) 
-                (ontop ?plate.n.04 ?place_mat.n.01_1)
+                (ontop ?plate.n.04 ?breakfast_table.n.01_1)
             ) 
-            (forpairs 
+            (forall
                 (?tablefork.n.01 - tablefork.n.01) 
-                (?place_mat.n.01 - place_mat.n.01) 
-                (ontop ?tablefork.n.01 ?place_mat.n.01_1)
+                (ontop ?tablefork.n.01 ?breakfast_table.n.01_1)
             ) 
         )
     )
diff --git a/bddl/activity_definitions/setting_up_for_an_event/problem0.bddl b/bddl/activity_definitions/setting_up_for_an_event/problem0.bddl
index c4ee08aa..25463e1c 100644
--- a/bddl/activity_definitions/setting_up_for_an_event/problem0.bddl
+++ b/bddl/activity_definitions/setting_up_for_an_event/problem0.bddl
@@ -50,15 +50,15 @@
             )
             (forall
                 (?hamburger.n.01 - hamburger.n.01)
-                (ontop ?hamburger.n.01 ?tablecloth.n.01_1)
+                (ontop ?hamburger.n.01 ?coffee_table.n.01_1)
             )
             (forall
                 (?gift_box.n.01 - gift_box.n.01)
-                (ontop ?gift_box.n.01 ?tablecloth.n.01_1)
+                (ontop ?gift_box.n.01 ?coffee_table.n.01_1)
             )
             (forall
                 (?beer_bottle.n.01 - beer_bottle.n.01)
-                (ontop ?beer_bottle.n.01 ?tablecloth.n.01_1)
+                (ontop ?beer_bottle.n.01 ?coffee_table.n.01_1)
             )
         )
     )
diff --git a/bddl/activity_definitions/shampooing_carpet/problem0.bddl b/bddl/activity_definitions/shampooing_carpet/problem0.bddl
index 8f5984c9..db90ca82 100644
--- a/bddl/activity_definitions/shampooing_carpet/problem0.bddl
+++ b/bddl/activity_definitions/shampooing_carpet/problem0.bddl
@@ -20,7 +20,7 @@
     )
     
     (:init 
-        (ontop vacuum.n.04_1 rug.n.01_1) 
+        (ontop vacuum.n.04_1 floor.n.01_1)
         (covered rug.n.01_1 crumb.n.03_1) 
         (covered rug.n.01_1 stain.n.01_1) 
         (ontop rug.n.01_1 floor.n.01_1) 
diff --git a/bddl/activity_definitions/store_an_uncooked_turkey/problem0.bddl b/bddl/activity_definitions/store_an_uncooked_turkey/problem0.bddl
index e5e29387..b3950846 100644
--- a/bddl/activity_definitions/store_an_uncooked_turkey/problem0.bddl
+++ b/bddl/activity_definitions/store_an_uncooked_turkey/problem0.bddl
@@ -4,7 +4,7 @@
     (:objects
      	turkey.n.04_1 - turkey.n.04
     	countertop.n.01_1 - countertop.n.01
-    	plastic_bag.n.01_1 - plastic_bag.n.01
+    	cookie_sheet.n.01_1 - cookie_sheet.n.01
     	electric_refrigerator.n.01_1 - electric_refrigerator.n.01
     	floor.n.01_1 - floor.n.01
     	agent.n.01_1 - agent.n.01
@@ -12,7 +12,7 @@
     
     (:init 
         (ontop turkey.n.04_1 countertop.n.01_1) 
-        (ontop plastic_bag.n.01_1 countertop.n.01_1) 
+        (ontop cookie_sheet.n.01_1 countertop.n.01_1)
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom countertop.n.01_1 kitchen) 
         (inroom floor.n.01_1 kitchen) 
@@ -21,8 +21,8 @@
     
     (:goal 
         (and 
-            (inside ?turkey.n.04_1 ?plastic_bag.n.01_1)
-            (inside ?plastic_bag.n.01_1 ?electric_refrigerator.n.01_1)
+            (ontop ?turkey.n.04_1 ?cookie_sheet.n.01_1)
+            (inside ?cookie_sheet.n.01_1 ?electric_refrigerator.n.01_1)
         )
     )
 )
\ No newline at end of file
diff --git a/bddl/activity_definitions/store_produce/problem0.bddl b/bddl/activity_definitions/store_produce/problem0.bddl
index 6b3a548d..c745fc88 100644
--- a/bddl/activity_definitions/store_produce/problem0.bddl
+++ b/bddl/activity_definitions/store_produce/problem0.bddl
@@ -4,18 +4,18 @@
     (:objects
         mango.n.02_1 mango.n.02_2 - mango.n.02 
         pomegranate.n.02_1 pomegranate.n.02_2 - pomegranate.n.02
-        plastic_bag.n.01_1 - plastic_bag.n.01
+        sack.n.01_1 - sack.n.01
         floor.n.01_1 - floor.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
         agent.n.01_1 - agent.n.01
     )
     
     (:init 
-        (inside mango.n.02_1 plastic_bag.n.01_1) 
-        (inside mango.n.02_2 plastic_bag.n.01_1) 
-        (inside pomegranate.n.02_1 plastic_bag.n.01_1) 
-        (inside pomegranate.n.02_2 plastic_bag.n.01_1) 
-        (ontop plastic_bag.n.01_1 floor.n.01_1) 
+        (inside mango.n.02_1 sack.n.01_1) 
+        (inside mango.n.02_2 sack.n.01_1) 
+        (inside pomegranate.n.02_1 sack.n.01_1) 
+        (inside pomegranate.n.02_2 sack.n.01_1) 
+        (ontop sack.n.01_1 floor.n.01_1) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom floor.n.01_1 kitchen) 
         (ontop agent.n.01_1 floor.n.01_1)
diff --git a/bddl/activity_definitions/store_rugs/problem0.bddl b/bddl/activity_definitions/store_rugs/problem0.bddl
index 4ead5bed..c0b7978c 100644
--- a/bddl/activity_definitions/store_rugs/problem0.bddl
+++ b/bddl/activity_definitions/store_rugs/problem0.bddl
@@ -13,7 +13,7 @@
     (:init 
         (ontop rug.n.01_1 floor.n.01_1) 
         (covered rug.n.01_1 dust.n.01_1) 
-        (ontop vacuum.n.04_1 rug.n.01_1) 
+        (ontop vacuum.n.04_1 floor.n.01_1)
         (inroom floor.n.01_1 utility_room) 
         (inroom cabinet.n.01_1 utility_room) 
         (ontop agent.n.01_1 floor.n.01_1)
diff --git a/bddl/activity_definitions/store_silver_coins/problem0.bddl b/bddl/activity_definitions/store_silver_coins/problem0.bddl
index c364b138..7650e118 100644
--- a/bddl/activity_definitions/store_silver_coins/problem0.bddl
+++ b/bddl/activity_definitions/store_silver_coins/problem0.bddl
@@ -12,9 +12,9 @@
     )
     
     (:init 
-        (ontop silver.n.02_1 hand_towel.n.01_1) 
-        (ontop silver.n.02_1 hand_towel.n.01_1) 
-        (ontop silver.n.02_3 hand_towel.n.01_1) 
+        (ontop silver.n.02_1 breakfast_table.n.01_1)
+        (ontop silver.n.02_1 breakfast_table.n.01_1)
+        (ontop silver.n.02_3 breakfast_table.n.01_1)
         (ontop hand_towel.n.01_1 breakfast_table.n.01_1) 
         (ontop cup.n.01_1 breakfast_table.n.01_1) 
         (inroom cabinet.n.01_1 private_office) 
diff --git a/bddl/activity_definitions/store_vintage_linens/problem0.bddl b/bddl/activity_definitions/store_vintage_linens/problem0.bddl
index e7686fd8..18f1b679 100644
--- a/bddl/activity_definitions/store_vintage_linens/problem0.bddl
+++ b/bddl/activity_definitions/store_vintage_linens/problem0.bddl
@@ -20,7 +20,7 @@
     
     (:goal 
         (and 
-            (ontop ?doily.n.01_1 ?doily.n.01_2) 
+            (ontop ?doily.n.01_1 ?shelf.n.01_1)
             (ontop ?doily.n.01_2 ?shelf.n.01_1) 
             (folded ?doily.n.01_1) 
             (folded ?doily.n.01_2)
diff --git a/bddl/activity_definitions/sweeping_patio/problem0.bddl b/bddl/activity_definitions/sweeping_patio/problem0.bddl
index a6d8e184..9d7e6054 100644
--- a/bddl/activity_definitions/sweeping_patio/problem0.bddl
+++ b/bddl/activity_definitions/sweeping_patio/problem0.bddl
@@ -6,7 +6,7 @@
         sand.n.04_1 - sand.n.04
         driveway.n.01_1 - driveway.n.01
         entire_leaf.n.01_1 entire_leaf.n.01_2 entire_leaf.n.01_3 entire_leaf.n.01_4 entire_leaf.n.01_5 - entire_leaf.n.01
-        plastic_bag.n.01_1 - plastic_bag.n.01
+        sack.n.01_1 - sack.n.01
         lawn.n.01_1 - lawn.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
@@ -20,7 +20,7 @@
         (ontop entire_leaf.n.01_3 driveway.n.01_1) 
         (ontop entire_leaf.n.01_4 driveway.n.01_1) 
         (ontop entire_leaf.n.01_5 driveway.n.01_1) 
-        (ontop plastic_bag.n.01_1 driveway.n.01_1)
+        (ontop sack.n.01_1 driveway.n.01_1)
         (inroom lawn.n.01_1 garden) 
         (inroom driveway.n.01_1 garden) 
         (inroom floor.n.01_1 garden) 
@@ -31,7 +31,7 @@
         (and 
             (forall 
                 (?entire_leaf.n.01 - entire_leaf.n.01) 
-                (inside ?entire_leaf.n.01 ?plastic_bag.n.01_1)
+                (inside ?entire_leaf.n.01 ?sack.n.01_1)
             ) 
             (not 
                 (covered ?driveway.n.01_1 ?sand.n.04_1)
diff --git a/bddl/activity_definitions/sweeping_steps/problem0.bddl b/bddl/activity_definitions/sweeping_steps/problem0.bddl
index 931a8a7d..c21ec8f9 100644
--- a/bddl/activity_definitions/sweeping_steps/problem0.bddl
+++ b/bddl/activity_definitions/sweeping_steps/problem0.bddl
@@ -11,7 +11,7 @@
     )
     
     (:init 
-        (ontop broom.n.01_1 rug.n.01_1) 
+        (ontop broom.n.01_1 floor.n.01_1)
         (ontop rug.n.01_1 floor.n.01_1) 
         (covered rug.n.01_1 debris.n.01_1)
         (covered rug.n.01_1 lint.n.01_1) 
diff --git a/bddl/bddl_verification.py b/bddl/bddl_verification.py
index 15f4aed3..4800b852 100644
--- a/bddl/bddl_verification.py
+++ b/bddl/bddl_verification.py
@@ -273,45 +273,53 @@ def check_synset_predicate_alignment(atom, syns_to_props):
     assert (pred in UNARIES) or (pred in BINARIES), f"Invalid predicate: {pred}"
     assert ((pred in UNARIES) and (len(objects) == 1)) or ((pred in BINARIES) and (len(objects) == 2)), f"Atom has wrong arity: {atom}"
 
-    # Unaries
-    if pred == "cooked": 
+    if pred == "cooked":
+        assert "nonSubstance" in syns_to_props[objects[0]], f"Inapplicable cooked: {atom}"
         assert "cookable" in syns_to_props[objects[0]], f"Inapplicable cooked: {atom}"
-    if pred == "frozen": 
+    if pred == "frozen":
+        assert "nonSubstance" in syns_to_props[objects[0]], f"Inapplicable frozen: {atom}"
         assert "freezable" in syns_to_props[objects[0]], f"Inapplicable frozen: {atom}"
     if pred == "closed" or pred == "open":
+        assert "rigidBody" in syns_to_props[objects[0]], f"Inapplicable closed/open: {atom}"
         assert "openable" in syns_to_props[objects[0]], f"Inapplicable closed/open: {atom}"
     if pred == "folded" or pred == "unfolded":
+        # cloth or rope is drapeable
         assert "drapeable" in syns_to_props[objects[0]], f"Inapplicable folded/unfolded: {atom}"
     if pred == "toggled_on":
+        assert "rigidBody" in syns_to_props[objects[0]], f"Inapplicable toggled_on: {atom}"
         assert "toggleable" in syns_to_props[objects[0]], f"Inapplicable toggled_on: {atom}"
-    if pred == "hot": 
+    if pred == "hot":
+        assert "nonSubstance" in syns_to_props[objects[0]], f"Inapplicable hot: {atom}"
         assert "heatable" in syns_to_props[objects[0]], f"Inapplicable hot: {atom}"
-    if pred == "on_fire": 
+    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": 
+    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": 
+    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}"
-    
+
     # Binaries
     if pred == "saturated":
-        assert ("particleRemover" in syns_to_props[objects[0]]) and ("substance" in syns_to_props[objects[1]]), f"Inapplicable saturated: {atom}"
+        assert ("nonSubstance" in syns_to_props[objects[0]]) and ("particleRemover" in syns_to_props[objects[0]]) and ("substance" in syns_to_props[objects[1]]), f"Inapplicable saturated: {atom}"
     if pred == "covered":
         assert ("nonSubstance" in syns_to_props[objects[0]]) and ("substance" in syns_to_props[objects[1]]), f"Inapplicable covered: {atom}"
     if pred == "filled":
-        assert ("fillable" in syns_to_props[objects[0]]) and ("physicalSubstance" in syns_to_props[objects[1]]), f"Inapplicable filled/empty: {atom}"
+        assert ("rigidBody" in syns_to_props[objects[0]]) and ("fillable" in syns_to_props[objects[0]]) and ("physicalSubstance" in syns_to_props[objects[1]]), f"Inapplicable filled/empty: {atom}"
     if pred == "contains" or pred == "empty":
-        assert ("fillable" in syns_to_props[objects[0]]) and ("substance" in syns_to_props[objects[1]]), f"Inapplicable contains: {atom}"
+        assert ("rigidBody" in syns_to_props[objects[0]]) and ("fillable" in syns_to_props[objects[0]]) and ("substance" in syns_to_props[objects[1]]), f"Inapplicable contains: {atom}"
     if pred == "ontop":
-        assert ("nonSubstance" in syns_to_props[objects[0]]) and ("nonSubstance" in syns_to_props[objects[1]]), f"Inapplicable ontop: {atom}"
+        assert ("nonSubstance" in syns_to_props[objects[0]]) and ("rigidBody" in syns_to_props[objects[1]] or "softBody" in syns_to_props[objects[1]]), f"Inapplicable ontop: {atom}"
     if pred == "nextto":
         assert ("nonSubstance" in syns_to_props[objects[0]]) and ("nonSubstance" in syns_to_props[objects[1]]), f"Inapplicable nextto: {atom}"
     if pred == "under":
-        assert ("nonSubstance" in syns_to_props[objects[0]]) and ("rigidBody" in syns_to_props[objects[1]]), f"Inapplicable under: {atom}"
+        assert ("nonSubstance" in syns_to_props[objects[0]]) and ("rigidBody" in syns_to_props[objects[1]] or "softBody" in syns_to_props[objects[1]]), f"Inapplicable under: {atom}"
     if pred == "touching": 
         assert ("rigidBody" in syns_to_props[objects[0]]) and ("rigidBody" in syns_to_props[objects[1]]), f"Inapplicable touching: {atom}"
     if pred == "inside": 
-        assert ("nonSubstance" in syns_to_props[objects[0]]) and ("nonSubstance" in syns_to_props[objects[1]]), f"Inapplicable inside: {atom}"
+        assert ("nonSubstance" in syns_to_props[objects[0]]) and ("rigidBody" in syns_to_props[objects[1]] or "softBody" in syns_to_props[objects[1]]), f"Inapplicable inside: {atom}"
     if pred == "overlaid": 
         assert ("drapeable" in syns_to_props[objects[0]]) and ("rigidBody" in syns_to_props[objects[1]]), f"Inapplicable overlaid: {atom}"
     if pred == "attached":