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disallow cloth to be the second argument of ontop/inside/under #258

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merged 1 commit into from
Feb 16, 2024
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disallow cloth to be the second argument of ontop/inside/under #258

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22 changes: 11 additions & 11 deletions bddl/activity_definitions/bag_groceries/problem0.bddl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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)
Expand All @@ -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)
)
)
)
Expand Down
10 changes: 4 additions & 6 deletions bddl/activity_definitions/bringing_in_kindling/problem0.bddl
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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)
Expand Down
2 changes: 1 addition & 1 deletion bddl/activity_definitions/bringing_paper_to_recycling/problem0.bddl
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down
3 changes: 1 addition & 2 deletions bddl/activity_definitions/buy_and_clean_mussels/problem0.bddl
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
)
)
Expand Down
12 changes: 6 additions & 6 deletions bddl/activity_definitions/buy_home_use_medical_supplies/problem0.bddl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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)
Expand All @@ -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)

)
Expand Down
10 changes: 5 additions & 5 deletions bddl/activity_definitions/buy_salad_greens/problem0.bddl
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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)
Expand All @@ -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)
)
)
)
Expand Down
28 changes: 14 additions & 14 deletions bddl/activity_definitions/buying_groceries/problem0.bddl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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)
Expand All @@ -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)
)
)
)
Expand Down
14 changes: 7 additions & 7 deletions bddl/activity_definitions/carrying_in_groceries/problem0.bddl
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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)
Expand Down
3 changes: 1 addition & 2 deletions bddl/activity_definitions/clean_a_backpack/problem0.bddl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand All @@ -38,7 +38,6 @@
(not
(covered ?backpack.n.01_1 ?dust.n.01_1)
)
(ontop ?backpack.n.01_1 ?hand_towel.n.01_1)
)
)
)
2 changes: 1 addition & 1 deletion bddl/activity_definitions/clean_a_rug/problem0.bddl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down
2 changes: 1 addition & 1 deletion bddl/activity_definitions/cleaning_bedroom/problem0.bddl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
)
)
)
13 changes: 3 additions & 10 deletions bddl/activity_definitions/cleaning_up_plates_and_food/problem0.bddl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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)
Expand All @@ -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
Expand Down
4 changes: 2 additions & 2 deletions bddl/activity_definitions/clearing_table_after_snacks/problem0.bddl
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down
9 changes: 5 additions & 4 deletions bddl/activity_definitions/cook_sweet_potatoes/problem0.bddl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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)
)
Expand Down
6 changes: 3 additions & 3 deletions bddl/activity_definitions/doing_housework_for_adult/problem0.bddl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down
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