Merge pull request #71 from StanfordVL/transition-map-contentfixes

Transition map contentfixes

bddl/activity_definitions/baking_sugar_cookies/problem0.bddl

@@ -21,6 +21,8 @@
         mason_jar.n.01_1 - mason_jar.n.01
         countertop.n.01_1 countertop.n.01_2 - countertop.n.01
         vanilla__bottle.n.01_1 - vanilla__bottle.n.01
+        salt.n.02_1 - salt.n.02
+        salt__shaker.n.01_1 - salt__shaker.n.01
         bowl.n.01_1 - bowl.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
         tablespoon.n.02_1 - tablespoon.n.02
@@ -31,6 +33,8 @@
     (:init 
         (filled flour__sack.n.01_1 flour.n.01_1)
         (ontop flour__sack.n.01_1 countertop.n.01_1)
+        (insource salt__shaker.n.01_1 salt.n.02_1)
+        (ontop salt__shaker.n.01_1 countertop.n.01_1)
         (ontop tablespoon.n.02_1 countertop.n.01_1)
         (filled sugar__sack.n.01_1 granulated_sugar.n.01_1)
         (ontop sugar__sack.n.01_1 countertop.n.01_1)

bddl/activity_definitions/make_a_red_meat_sauce/problem0.bddl

@@ -7,7 +7,6 @@
         clove.n.03_1 clove.n.03_2 clove.n.03_3 - clove.n.03
         ground_beef.n.01_1 - ground_beef.n.01
         basil.n.03_1 basil.n.03_2 basil.n.03_3 basil.n.03_4 - basil.n.03
-        red_meat_sauce.n.01_1 - red_meat_sauce.n.01
         cooked__red_meat_sauce.n.01_1 - cooked__red_meat_sauce.n.01
         stove.n.01_1 - stove.n.01
         saucepan.n.01_1 - saucepan.n.01
@@ -47,21 +46,14 @@
         (inroom countertop.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (future cooked__red_meat_sauce.n.01_1) 
-        (future red_meat_sauce.n.01_1) 
         (inroom floor.n.01_1 kitchen) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (or 
-                (real ?cooked__red_meat_sauce.n.01_1) 
-                (real ?red_meat_sauce.n.01_1)
-            ) 
-            (or 
-                (contains ?saucepan.n.01_1 ?cooked__red_meat_sauce.n.01_1) 
-                (contains ?saucepan.n.01_1 ?red_meat_sauce.n.01_1)
-            )
+            (real ?cooked__red_meat_sauce.n.01_1) 
+            (contains ?saucepan.n.01_1 ?cooked__red_meat_sauce.n.01_1) 
         )
     )
 )

bddl/activity_definitions/make_iced_tea/problem0.bddl

@@ -7,7 +7,6 @@
         electric_kettle.n.01_1 - electric_kettle.n.01
         mug.n.04_1 - mug.n.04
         ice_cube.n.01_1 ice_cube.n.01_2 - ice_cube.n.01
-        tea.n.01_1 - tea.n.01
         water_glass.n.02_1 - water_glass.n.02
         countertop.n.01_1 - countertop.n.01
         cup.n.01_1 - cup.n.01
@@ -34,16 +33,15 @@
         (inroom cabinet.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom sink.n.01_1 kitchen) 
-        (future tea.n.01_1) 
         (inroom floor.n.01_1 kitchen) 
         (inroom stove.n.01_1 kitchen) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
     (:goal 
         (and 
-            (real ?tea.n.01_1) 
-            (contains ?water_glass.n.02_1 ?tea.n.01_1) 
+            (contains ?water_glass.n.02_1 ?water.n.06_1) 
+            (inside ?tea_bag.n.01_1 ?water_glass.n.02_1)
             (forall 
                 (?ice_cube.n.01 - ice_cube.n.01) 
                 (inside ?ice_cube.n.01 ?water_glass.n.02_1)

bddl/activity_definitions/make_onion_ring_batter/problem0.bddl

@@ -12,6 +12,8 @@
         mixing_bowl.n.01_1 - mixing_bowl.n.01
         flour__sack.n.01_1 - flour__sack.n.01
         salt__shaker.n.01_1 - salt__shaker.n.01
+        onion_powder__shaker.n.01_1 - onion_powder__shaker.n.01
+        onion_powder.n.01_1 - onion_powder.n.01
         countertop.n.01_1 - countertop.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
         cabinet.n.01_1 - cabinet.n.01
@@ -32,7 +34,9 @@
         (filled cooking_oil__bottle.n.01_1 cooking_oil.n.01_1) 
         (ontop cooking_oil__bottle.n.01_1 countertop.n.01_1) 
         (insource salt__shaker.n.01_1 salt.n.02_1)
+        (insource onion_powder__shaker.n.01_1 onion_powder.n.01_1)
         (ontop salt__shaker.n.01_1 countertop.n.01_1)
+        (ontop onion_powder__shaker.n.01_1 countertop.n.01_1)
         (ontop electric_mixer.n.01_1 countertop.n.01_1) 
         (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (future onion_ring_batter.n.01_1) 

bddl/activity_definitions/make_waffles/problem0.bddl

@@ -6,7 +6,7 @@
         butter.n.01_1 - butter.n.01
         vanilla.n.02_1 - vanilla.n.02
         flour.n.01_1 - flour.n.01
-        baking_powder.n.01_1 - baking_powder.n.01
+        yogurt.n.01_1 - yogurt.n.01
         salt.n.02_1 - salt.n.02
         granulated_sugar.n.01_1 - granulated_sugar.n.01
         whole_milk.n.01_1 - whole_milk.n.01
@@ -17,7 +17,7 @@
         waffle_iron.n.01_1 - waffle_iron.n.01
         plate.n.04_1 - plate.n.04
         flour__sack.n.01_1 - flour__sack.n.01
-        baking_powder__jar.n.01_1 - baking_powder__jar.n.01
+        yogurt__carton.n.01_1 - yogurt__carton.n.01
         salt__shaker.n.01_1 - salt__shaker.n.01
         sugar__sack.n.01_1 - sugar__sack.n.01
         countertop.n.01_1 countertop.n.01_2 - countertop.n.01
@@ -40,8 +40,8 @@
         (inside vanilla__bottle.n.01_1 cabinet.n.01_1) 
         (filled flour__sack.n.01_1 flour.n.01_1) 
         (ontop flour__sack.n.01_1 countertop.n.01_1) 
-        (filled baking_powder__jar.n.01_1 baking_powder.n.01_1) 
-        (inside baking_powder__jar.n.01_1 cabinet.n.01_1) 
+        (filled yogurt__carton.n.01_1 yogurt.n.01_1) 
+        (inside yogurt__carton.n.01_1 electric_refrigerator.n.01_1) 
         (insource salt__shaker.n.01_1 salt.n.02_1)
         (ontop salt__shaker.n.01_1 countertop.n.01_1)
         (filled sugar__sack.n.01_1 granulated_sugar.n.01_1) 

bddl/activity_definitions/preserving_fruit/problem0.bddl

@@ -13,6 +13,9 @@
         soup_ladle.n.01_1 - soup_ladle.n.01
         mason_jar.n.01_1 - mason_jar.n.01
         water.n.06_1 - water.n.06
+        mint.n.04_1 - mint.n.04
+        blender.n.01_1 - blender.n.01
+        carving_knife.n.01_1 - carving_knife.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
         cabinet.n.01_1 - cabinet.n.01
         sink.n.01_1 - sink.n.01
@@ -29,12 +32,15 @@
         (inside strawberry.n.01_6 tupperware.n.01_1) 
         (inside strawberry.n.01_7 tupperware.n.01_1) 
         (inside tupperware.n.01_1 electric_refrigerator.n.01_1)
+        (inside mint.n.04_1 electric_refrigerator.n.01_1)
         (filled granulated_sugar__sack.n.01_1 granulated_sugar.n.01_1) 
         (ontop granulated_sugar__sack.n.01_1 countertop.n.01_1) 
+        (ontop carving_knife.n.01_1 countertop.n.01_1)
         (inside saucepot.n.01_1 cabinet.n.01_1) 
         (inside soup_ladle.n.01_1 cabinet.n.01_1) 
         (ontop mason_jar.n.01_1 countertop.n.01_1) 
         (open mason_jar.n.01_1) 
+        (ontop blender.n.01_1 countertop.n.01_1)
         (insource sink.n.01_1 water.n.06_1)
         (future sugar_syrup.n.01_1)
         (inroom sink.n.01_1 kitchen)

bddl/data_generation/get_implicit_transition_rules.py

@@ -52,7 +52,7 @@ def generate_dicing_rules(syns_to_param_props, props_to_syns):
     Generates transition rules for dicing of diceable objects.
     Form: 
     {
-        "rule_name": <non-unique string>,
+        "rule_name": <unique string name>,
         "input_objects": {
             <diceable>: 1 
         },
@@ -167,16 +167,138 @@ def generate_substance_cooking_rules(syns_to_param_props, props_to_syns):
     return rules 
 
 
+def generate_melting_rules(syns_to_param_props, props_to_syns):
+    """
+    Generates transition rules for melting of meltable objects.
+    Form: 
+    {
+        "rule_name": <unique string name>,
+        "input_objects": {
+            <meltable>: 1
+        },
+        "output_objects": {
+            <meltable_derivative_synset>: 1
+        }
+    }
+    """
+    rules = []
+    meltables = props_to_syns["meltable"]
+    for meltable in meltables: 
+        assert "meltable_derivative_synset" in syns_to_param_props[meltable]["meltable"], f"Synset {meltable} has no meltable derivative synset. Add one in the parameter annotations or handle otherwise."
+        assert syns_to_param_props[meltable]["meltable"]["meltable_derivative_synset"] in syns_to_param_props, f"Synset {meltable} has meltable derivative synset {syns_to_param_props[meltable]['meltable_derivative_synset']} that is not a valid synset. Please check."
+        meltable_derivative_synset = syns_to_param_props[meltable]["meltable"]["meltable_derivative_synset"]
+
+        rule = {
+            "rule_name": f"{meltable}-melting",
+            "input_objects": {
+                meltable: 1
+            },
+            "output_objects": {
+                meltable_derivative_synset: 1
+            }
+        }
+
+        rules.append(rule)
+
+    rules.sort(key=lambda x: x["rule_name"])
+    return rules
+
+
+def generate_washer_particleremover_rules(props_to_syns):
+    """
+    Generates transition rules for adding water to particleRemovers that come out of a washer
+    Form: 
+    {
+        "rule_name": <particleRemover>-washer-saturate-cover,
+        "input_objects": {},
+        "washed_item": {
+            <particleRemover>: 1,
+        },
+        "output_objects": {
+            "water.n.06": 1
+        }
+    }
+    Invariants not explicitly stated in rule: 
+    - At input time washer.n.03 exists and is toggled on, `washed_item` is inside
+    - At output time `washed_item` is covered and saturated in water
+    """
+    rules = []
+    particleRemovers = set(props_to_syns["particleRemover"])
+    for particleRemover in particleRemovers: 
+        rule = {
+            "rule_name": f"{particleRemover}-washer-saturate-cover",
+            "input_objects": {},
+            "washed_item": {
+                particleRemover: 1
+            },
+            "output_objects": {
+                "water.n.06": 1
+            }
+        }
+        rules.append(rule)
+    rules.sort(key=lambda x: x["rule_name"])
+    return rules
+
+
+def generate_washer_nonparticleremover_rules(props_to_syns):
+    """
+    Generates transition rules for adding water to non-particleRemover nonSubstances that come 
+    out of a washer.
+    Form: 
+    {
+        "rule_name": <nonSubstance,non-particleRemover>-washer-cover,
+        "input_objects": {},
+        "washed_item": {
+            <non-particleRemover,nonSubstance>: 1
+        },
+        "output_objects": {
+            "water.n.06": 1
+        }
+    }
+    Invariants not explicitly stated in rule: 
+    - At input time washer.n.03 exists and is toggled on, `washed_item` is
+    inside
+    - At output time `washed_item` is covered and saturated in water
+    """
+    rules = []
+    particleRemovers = set(props_to_syns["particleRemover"])
+    nonSubstances = set(props_to_syns["nonSubstance"])
+    nonparticleremover_nonsubstances = nonSubstances.difference(particleRemovers)
+    for syn in nonparticleremover_nonsubstances: 
+        rule = {
+            "rule_name": f"{syn}-washer-cover",
+            "input_objects": {},
+            "washed_item": {
+                syn: 1
+            },
+            "output_objects": {
+                "water.n.06": 1
+            }
+        }
+        rules.append(rule)
+    rules.sort(key=lambda x: x["rule_name"])
+    return rules
+
+
 def create_get_save_implicit_transition_rules(syns_to_param_props, props_to_syns):
     print("Creating implicit transition rule jsons...")
     slicing_rules = generate_slicing_rules(syns_to_param_props, props_to_syns)
     dicing_rules = generate_dicing_rules(syns_to_param_props, props_to_syns)
     substance_cooking_rules = generate_substance_cooking_rules(syns_to_param_props, props_to_syns)
+    melting_rules = generate_melting_rules(syns_to_param_props, props_to_syns)
+    washer_particleremover_rules = generate_washer_particleremover_rules(props_to_syns)
+    washer_nonparticleremover_rules = generate_washer_nonparticleremover_rules(props_to_syns)
 
     with open(os.path.join(TRANSITION_MAP_DIR, "slicing.json"), "w") as f:
         json.dump(slicing_rules, f, indent=4)
     with open(os.path.join(TRANSITION_MAP_DIR, "dicing.json"), "w") as f:
         json.dump(dicing_rules, f, indent=4)
     with open(os.path.join(TRANSITION_MAP_DIR, "substance_cooking.json"), "w") as f:
         json.dump(substance_cooking_rules, f, indent=4)
+    with open(os.path.join(TRANSITION_MAP_DIR, "melting.json"), "w") as f:
+        json.dump(melting_rules, f, indent=4)
+    with open(os.path.join(TRANSITION_MAP_DIR, "washer_particleremover.json"), "w") as f:
+        json.dump(washer_particleremover_rules, f, indent=4)
+    with open(os.path.join(TRANSITION_MAP_DIR, "washer_nonparticleremover.json"), "w") as f:
+        json.dump(washer_nonparticleremover_rules, f, indent=4)
     print("Created and saved implicit transition rule jsons.")

bddl/data_generation/process_prop_param_annots.py

@@ -168,6 +168,9 @@ def create_get_save_propagated_annots_params(syns_to_props):
                                 raise ValueError(f"synset {param_record['synset']} particleSink annotation has NaN value for parameter {param_name}. Either handle NaN or annotate parameter value.")
                         elif prop == "particleSource":
                             raise ValueError(f"synset {param_record['synset']} particleSource annotation has NaN value for parameter {param_name}. Either handle NaN or annotate parameter value.")
+                        elif prop == "meltable": 
+                            raise ValueError(f"synset {param_record['synset']} meltable annotation has NaN value for parameter {param_name}. Either handle NaN or annotate param value.")
+
 
                     # `conditions` values - format is keyword1:bool_value1;keyword2:bool_value2;...;keywordN:bool_valueN
                     elif param_name == "conditions": 
@@ -188,7 +191,7 @@ def create_get_save_propagated_annots_params(syns_to_props):
 
                         else:
                             raise ValueError(f"prop {prop} not handled for parameter name `conditions`")
-                    
+
                     # Can skip system since it's just part of handling `conditions`
                     elif param_name == "system": continue
 
@@ -199,6 +202,10 @@ def create_get_save_propagated_annots_params(syns_to_props):
                         else:
                             raise ValueError(f"prop {prop} not handled for parameter name `method`")
 
+                    # Required derivative synsets
+                    elif param_name == "meltable_derivative_synset":
+                        formatted_param_value = param_value
+
                     # Float values
                     else:
                         try: 

bddl/data_generation/pull_sheets.py

@@ -26,6 +26,7 @@
   (SYNSET_PARAMS_SHEET_KEY, "particleSink", "prop_param_annots/particleSink.csv"),
   (SYNSET_PARAMS_SHEET_KEY, "diceable", "prop_param_annots/diceable.csv"),
   (SYNSET_PARAMS_SHEET_KEY, "sliceable", "prop_param_annots/sliceable.csv"),
+  (SYNSET_PARAMS_SHEET_KEY, "meltable", "prop_param_annots/meltable.csv"),
   (EXPLICIT_TRANSITION_RULES_SHEET_KEY, "electric_mixer", "transition_map/tm_raw_data/electric_mixer.csv"),
   (EXPLICIT_TRANSITION_RULES_SHEET_KEY, "heat_cook", "transition_map/tm_raw_data/heat_cook.csv"),
   (EXPLICIT_TRANSITION_RULES_SHEET_KEY, "mixing_stick", "transition_map/tm_raw_data/mixing_stick.csv"),