Merge pull request #62 from StanfordVL/fix/bddl-errors

Fix/bddl errors
StanfordVL · Aug 2, 2023 · 3d01de6 · 3d01de6
2 parents 0825fbb + 8f2052d
commit 3d01de6
Show file tree

Hide file tree

Showing 376 changed files with 349,783 additions and 70,075 deletions.
diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # Behavior Domain Definition Language 
 
-**Note: You are reading the docs for the 3.0.0b1 release, which is a backwards-incompatible version of BDDL containing a subset of BEHAVIOR-1K activities released as part of the BEHAVIOR-1K beta release. Please go to the tags menu to see BEHAVIOR-100 code and files.**
+**Note: You are reading the docs for the 3.1.0 release, which is a backwards-incompatible version of BDDL containing a subset of BEHAVIOR-1K activities released as part of the BEHAVIOR-1K beta release. Please go to the tags menu to see BEHAVIOR-100 code and files.**
 
 The Behavior Domain Definition Language (BDDL) is a domain-specific language designed for the Benchmark for Everyday Household Activities in Virtual, Interactive, and ecOlogical enviRonments (BEHAVIOR). 
 

diff --git a/bddl/activity_definitions/adding_chemicals_to_hot_tub/problem0.bddl b/bddl/activity_definitions/adding_chemicals_to_hot_tub/problem0.bddl
@@ -21,7 +21,7 @@
 
     (:goal 
         (and 
-            (filled ?hot_tub.n.02_1 ?chlorine.n.01_1)
+            (contains ?hot_tub.n.02_1 ?chlorine.n.01_1)
             (filled ?hot_tub.n.02_1 ?water.n.06_1)
         )
     )

diff --git a/bddl/activity_definitions/bag_groceries/problem0.bddl b/bddl/activity_definitions/bag_groceries/problem0.bddl
@@ -7,7 +7,7 @@
     	canned_food.n.01_1 - canned_food.n.01
     	egg.n.02_1 - egg.n.02
     	apple.n.01_1 - apple.n.01
-    	orange_juice__carton.n.01_1 - orange_juice__carton.n.01
+    	bottle__of__orange_juice.n.01_1 - bottle__of__orange_juice.n.01
     	floor.n.01_1 - floor.n.01
     	agent.n.01_1 - agent.n.01
     )
@@ -18,7 +18,7 @@
         (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) 
-        (ontop orange_juice__carton.n.01_1 checkout.n.03_1) 
+        (ontop bottle__of__orange_juice.n.01_1 checkout.n.03_1) 
         (inroom checkout.n.03_1 grocery_store) 
         (inroom floor.n.01_1 grocery_store) 
         (ontop agent.n.01_1 floor.n.01_1)
@@ -36,7 +36,7 @@
             )
             (exists 
                 (?plastic_bag.n.01 - plastic_bag.n.01)
-                (inside ?orange_juice__carton.n.01_1 ?plastic_bag.n.01)
+                (inside ?bottle__of__orange_juice.n.01_1 ?plastic_bag.n.01)
             )
             (exists 
                 (?plastic_bag.n.01 - plastic_bag.n.01)

diff --git a/bddl/activity_definitions/bottling_wine/problem0.bddl b/bddl/activity_definitions/bottling_wine/problem0.bddl
@@ -19,11 +19,7 @@
         (ontop wine_bottle.n.01_1 countertop.n.01_1) 
         (ontop wine_bottle.n.01_2 countertop.n.01_1) 
         (ontop wine_bottle.n.01_3 countertop.n.01_1) 
-        (ontop wine_bottle.n.01_4 countertop.n.01_1) 
-        (open wine_bottle.n.01_1) 
-        (open wine_bottle.n.01_2) 
-        (open wine_bottle.n.01_3) 
-        (open wine_bottle.n.01_4) 
+        (ontop wine_bottle.n.01_4 countertop.n.01_1)
         (inside cork.n.04_1 cabinet.n.01_1)
         (inside cork.n.04_2 cabinet.n.01_1)
         (inside cork.n.04_3 cabinet.n.01_1)

diff --git a/bddl/activity_definitions/boxing_food_after_dinner/problem0.bddl b/bddl/activity_definitions/boxing_food_after_dinner/problem0.bddl
@@ -4,16 +4,23 @@
     (:objects
         breakfast_table.n.01_1 - breakfast_table.n.01
         electric_refrigerator.n.01_1 - electric_refrigerator.n.01
-        leftovers.n.01_1 leftovers.n.01_2 leftovers.n.01_3 - leftovers.n.01
+        kabob.n.01_1 kabob.n.01_2 kabob.n.01_3 - kabob.n.01
+        plate.n.04_1 plate.n.04_2 plate.n.04_3 - plate.n.04
         tupperware.n.01_1 - tupperware.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
-        (ontop leftovers.n.01_1 breakfast_table.n.01_1) 
-        (ontop leftovers.n.01_2 breakfast_table.n.01_1) 
-        (ontop leftovers.n.01_3 breakfast_table.n.01_1) 
+        (cooked kabob.n.01_1)
+        (cooked kabob.n.01_2)
+        (cooked kabob.n.01_3)
+        (ontop kabob.n.01_1 plate.n.04_1) 
+        (ontop kabob.n.01_2 plate.n.04_2) 
+        (ontop kabob.n.01_3 plate.n.04_3) 
+        (ontop plate.n.04_1 breakfast_table.n.01_1) 
+        (ontop plate.n.04_2 breakfast_table.n.01_1) 
+        (ontop plate.n.04_3 breakfast_table.n.01_1) 
         (ontop tupperware.n.01_1 breakfast_table.n.01_1) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom breakfast_table.n.01_1 dining_room) 
@@ -24,11 +31,13 @@
     (:goal 
         (and 
             (forall 
-                (?leftovers.n.01 - leftovers.n.01)
-                (inside ?leftovers.n.01 ?tupperware.n.01_1)
+                (?kabob.n.01 - kabob.n.01)
+                (inside ?kabob.n.01 ?tupperware.n.01_1)
+            )
+            (inside ?tupperware.n.01_1 ?electric_refrigerator.n.01_1)
+            (not
+                (open ?electric_refrigerator.n.01_1)
             )
-            (inside ?tupperware.n.01_1 ?electric_refrigerator.n.01_1) 
-            (closed ?electric_refrigerator.n.01_1)
         )
     )
 )
diff --git a/bddl/activity_definitions/brewing_coffee/problem0.bddl b/bddl/activity_definitions/brewing_coffee/problem0.bddl
@@ -23,7 +23,7 @@
         (ontop coffee_maker.n.01_1 countertop.n.01_1) 
         (ontop mug.n.04_1 countertop.n.01_1) 
         (inroom countertop.n.01_1 kitchen) 
-        (inroom sink.n.01_1 countertop.n.01_1) 
+        (inroom sink.n.01_1 kitchen) 
         (future drip_coffee.n.01_1) 
         (inroom floor.n.01_1 kitchen) 
         (ontop agent.n.01_1 floor.n.01_1)

diff --git a/bddl/activity_definitions/bringing_glass_to_recycling/problem0.bddl b/bddl/activity_definitions/bringing_glass_to_recycling/problem0.bddl
@@ -21,8 +21,10 @@
 
     (:goal 
         (and 
-            (inside ?water_glass.n.02_1 ?recycling_bin.n.01_1) 
-            (closed ?recycling_bin.n.01_1)
+            (inside ?water_glass.n.02_1 ?recycling_bin.n.01_1)
+            (not
+                (open ?recycling_bin.n.01_1)
+            )
         )
     )
 )
diff --git a/bddl/activity_definitions/bringing_in_mail/problem0.bddl b/bddl/activity_definitions/bringing_in_mail/problem0.bddl
@@ -15,8 +15,7 @@
         (inside mail.n.04_1 mailbox.n.01_1) 
         (inside mail.n.04_2 mailbox.n.01_1) 
         (inside mail.n.04_3 mailbox.n.01_1) 
-        (inside mail.n.04_4 mailbox.n.01_1) 
-        (closed mailbox.n.01_1) 
+        (inside mail.n.04_4 mailbox.n.01_1)
         (inroom coffee_table.n.01_1 living_room) 
         (inroom lawn.n.01_1 garden) 
         (inroom floor.n.01_1 living_room) 
@@ -29,7 +28,9 @@
                 (?mail.n.04 - mail.n.04)
                 (ontop ?mail.n.04 ?coffee_table.n.01_1)
             )
-            (closed ?mailbox.n.01_1)
+            (not
+                (open ?mailbox.n.01_1)
+            )
         )
     )
 )
diff --git a/bddl/activity_definitions/bringing_laundry/problem0.bddl b/bddl/activity_definitions/bringing_laundry/problem0.bddl
@@ -4,18 +4,18 @@
     (:objects
         washer.n.03_1 - washer.n.03
         stain.n.01_1 - stain.n.01
-        laundry.n.01_1 laundry.n.01_2 - laundry.n.01
+        garment.n.01_1 garment.n.01_2 - garment.n.01
         hamper.n.02_1 - hamper.n.02
         floor.n.01_1 floor.n.01_2 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
         (open washer.n.03_1) 
-        (covered laundry.n.01_1 stain.n.01_1) 
-        (inside laundry.n.01_1 hamper.n.02_1) 
-        (covered laundry.n.01_2 stain.n.01_1) 
-        (inside laundry.n.01_2 hamper.n.02_1) 
+        (covered garment.n.01_1 stain.n.01_1) 
+        (inside garment.n.01_1 hamper.n.02_1) 
+        (covered garment.n.01_2 stain.n.01_1) 
+        (inside garment.n.01_2 hamper.n.02_1) 
         (ontop hamper.n.02_1 floor.n.01_2) 
         (ontop agent.n.01_1 floor.n.01_1) 
         (inroom washer.n.03_1 utility_room) 
@@ -26,8 +26,8 @@
     (:goal 
         (and 
             (forall 
-                (?laundry.n.01 - laundry.n.01) 
-                (inside ?laundry.n.01 ?washer.n.03_1)
+                (?garment.n.01 - garment.n.01) 
+                (inside ?garment.n.01 ?washer.n.03_1)
             ) 
         )
     )

diff --git a/bddl/activity_definitions/bringing_paper_to_recycling/problem0.bddl b/bddl/activity_definitions/bringing_paper_to_recycling/problem0.bddl
@@ -23,8 +23,10 @@
             (forall 
                 (?paper.n.01 - paper.n.01) 
                 (inside ?paper.n.01 ?recycling_bin.n.01_1)
-            ) 
-            (closed ?recycling_bin.n.01_1)
+            )
+            (not
+                (open ?recycling_bin.n.01_1)
+            )
         )
     )
 )
diff --git a/bddl/activity_definitions/buy_a_air_conditioner/problem0.bddl b/bddl/activity_definitions/buy_a_air_conditioner/problem0.bddl
@@ -3,7 +3,6 @@
 
     (:objects
         money.n.01_1 - money.n.01
-        carton.n.02_1 - carton.n.02
         air_conditioner.n.01_1 - air_conditioner.n.01
         shopping_cart.n.01_1 - shopping_cart.n.01
         checkout.n.03_1 - checkout.n.03
@@ -12,9 +11,8 @@
     )
 
     (:init 
-        (ontop money.n.01_1 carton.n.02_1) 
-        (inside air_conditioner.n.01_1 carton.n.02_1) 
-        (ontop carton.n.02_1 shopping_cart.n.01_1) 
+        (inside money.n.01_1 shopping_cart.n.01_1) 
+        (ontop air_conditioner.n.01_1 floor.n.01_1) 
         (inroom checkout.n.03_1 grocery_store) 
         (inroom shopping_cart.n.01_1 grocery_store) 
         (inroom floor.n.01_1 grocery_store) 
@@ -24,8 +22,7 @@
     (:goal 
         (and 
             (ontop ?money.n.01_1 ?checkout.n.03_1) 
-            (ontop ?carton.n.02_1 ?checkout.n.03_1)
-            (inside ?air_conditioner.n.01_1 ?carton.n.02_1) 
+            (ontop ?air_conditioner.n.01_1 ?checkout.n.03_1) 
         )
     )
 )
diff --git a/bddl/activity_definitions/buy_a_keg/problem0.bddl b/bddl/activity_definitions/buy_a_keg/problem0.bddl
@@ -2,7 +2,7 @@
     (:domain omnigibson)
 
     (:objects
-        keg.n.02_1 - keg.n.02
+        beer_barrel.n.01_1 - beer_barrel.n.01
         shopping_cart.n.01_1 - shopping_cart.n.01
         credit_card.n.01_1 - credit_card.n.01
         checkout.n.03_1 - checkout.n.03
@@ -11,7 +11,7 @@
     )
 
     (:init 
-        (inside keg.n.02_1 shopping_cart.n.01_1) 
+        (inside beer_barrel.n.01_1 shopping_cart.n.01_1) 
         (inside credit_card.n.01_1 shopping_cart.n.01_1) 
         (inroom checkout.n.03_1 grocery_store) 
         (inroom shopping_cart.n.01_1 grocery_store) 
@@ -21,7 +21,7 @@
 
     (:goal 
         (and 
-            (ontop ?keg.n.02_1 ?checkout.n.03_1) 
+            (ontop ?beer_barrel.n.01_1 ?checkout.n.03_1) 
             (ontop ?credit_card.n.01_1 ?checkout.n.03_1)
         )
     )

diff --git a/bddl/activity_definitions/buy_alcohol/problem0.bddl b/bddl/activity_definitions/buy_alcohol/problem0.bddl
@@ -2,9 +2,9 @@
     (:domain omnigibson)
 
     (:objects
-        beer_bottle.n.01_1 - beer_bottle.n.01
-        wine_bottle.n.01_1 - wine_bottle.n.01
-        vodka_bottle.n.01_1 - vodka_bottle.n.01
+        bottle__of__beer.n.01_1 - bottle__of__beer.n.01
+        bottle__of__wine.n.01_1 - bottle__of__wine.n.01
+        bottle__of__vodka.n.01_1 - bottle__of__vodka.n.01
         shelf.n.01_1 - shelf.n.01
         money.n.01_1 - money.n.01
         shopping_cart.n.01_1 - shopping_cart.n.01
@@ -14,9 +14,9 @@
     )
 
     (:init 
-        (inside beer_bottle.n.01_1 shelf.n.01_1) 
-        (inside wine_bottle.n.01_1 shelf.n.01_1) 
-        (ontop vodka_bottle.n.01_1 shelf.n.01_1) 
+        (inside bottle__of__beer.n.01_1 shelf.n.01_1) 
+        (inside bottle__of__wine.n.01_1 shelf.n.01_1) 
+        (ontop bottle__of__vodka.n.01_1 shelf.n.01_1) 
         (inside money.n.01_1 shopping_cart.n.01_1) 
         (inroom checkout.n.03_1 grocery_store) 
         (inroom shelf.n.01_1 grocery_store) 
@@ -27,9 +27,9 @@
 
     (:goal 
         (and 
-            (ontop ?beer_bottle.n.01_1 ?checkout.n.03_1) 
-            (ontop ?wine_bottle.n.01_1 ?checkout.n.03_1) 
-            (ontop ?vodka_bottle.n.01_1 ?checkout.n.03_1) 
+            (ontop ?bottle__of__beer.n.01_1 ?checkout.n.03_1) 
+            (ontop ?bottle__of__wine.n.01_1 ?checkout.n.03_1) 
+            (ontop ?bottle__of__vodka.n.01_1 ?checkout.n.03_1) 
             (ontop ?money.n.01_1 ?checkout.n.03_1)
         )
     )

diff --git a/bddl/activity_definitions/buy_candle_making_supplies/problem0.bddl b/bddl/activity_definitions/buy_candle_making_supplies/problem0.bddl
@@ -3,7 +3,7 @@
 
     (:objects
         shelf.n.01_1 - shelf.n.01
-        beeswax.n.01_1 - beeswax.n.01
+        paraffin.n.01_1 - paraffin.n.01
         candlestick.n.01_1 candlestick.n.01_2 - candlestick.n.01
         shopping_cart.n.01_1 - shopping_cart.n.01
         money.n.01_1 - money.n.01
@@ -13,7 +13,7 @@
     )
 
     (:init 
-        (ontop beeswax.n.01_1 shelf.n.01_1)
+        (ontop paraffin.n.01_1 shelf.n.01_1)
         (ontop candlestick.n.01_1 shelf.n.01_1) 
         (inside candlestick.n.01_2 shelf.n.01_1)
         (inside money.n.01_1 shopping_cart.n.01_1) 
@@ -30,7 +30,7 @@
                 (?candlestick.n.01 - candlestick.n.01)
                 (ontop ?candlestick.n.01 ?checkout.n.03_1)
             )
-            (ontop ?beeswax.n.01_1 ?checkout.n.03_1)
+            (ontop ?paraffin.n.01_1 ?checkout.n.03_1)
             (ontop ?money.n.01_1 ?checkout.n.03_1)
         )
     )

diff --git a/bddl/activity_definitions/buy_dog_food/problem0.bddl b/bddl/activity_definitions/buy_dog_food/problem0.bddl
@@ -2,7 +2,7 @@
     (:domain omnigibson)
 
     (:objects
-        dog_food__can.n.01_1 - dog_food__can.n.01
+        can__of__dog_food.n.01_1 - can__of__dog_food.n.01
         shelf.n.01_1 - shelf.n.01
         shopping_cart.n.01_1 - shopping_cart.n.01
         money.n.01_1 - money.n.01
@@ -12,7 +12,7 @@
     )
 
     (:init 
-        (inside dog_food__can.n.01_1 shelf.n.01_1) 
+        (inside can__of__dog_food.n.01_1 shelf.n.01_1) 
         (inside money.n.01_1 shopping_cart.n.01_1) 
         (inroom checkout.n.03_1 grocery_store) 
         (inroom shelf.n.01_1 grocery_store) 
@@ -23,7 +23,7 @@
 
     (:goal 
         (and 
-            (ontop ?dog_food__can.n.01_1 ?checkout.n.03_1) 
+            (ontop ?can__of__dog_food.n.01_1 ?checkout.n.03_1) 
             (ontop ?money.n.01_1 ?checkout.n.03_1)
         )
     )

diff --git a/bddl/activity_definitions/buy_food_for_a_party/problem0.bddl b/bddl/activity_definitions/buy_food_for_a_party/problem0.bddl
@@ -6,9 +6,9 @@
         checkout.n.03_1 - checkout.n.03
         cake.n.03_1 - cake.n.03
         shelf.n.01_1 shelf.n.01_2 shelf.n.01_3 - shelf.n.01
-        milk__carton.n.01_1 - milk__carton.n.01
-        apple_juice__bottle.n.01_1 - apple_juice__bottle.n.01
-        pasta__box.n.01_1 pasta__box.n.01_2 - pasta__box.n.01
+        carton__of__milk.n.01_1 - carton__of__milk.n.01
+        bottle__of__apple_juice.n.01_1 - bottle__of__apple_juice.n.01
+        pack__of__pasta.n.01_1 pack__of__pasta.n.01_2 - pack__of__pasta.n.01
         money.n.01_1 money.n.01_2 money.n.01_3 money.n.01_4 money.n.01_5 - money.n.01
         shopping_cart.n.01_1 - shopping_cart.n.01
         floor.n.01_1 - floor.n.01
@@ -18,16 +18,15 @@
     (:init 
         (ontop cash_register.n.01_1 checkout.n.03_1) 
         (inside cake.n.03_1 shelf.n.01_1) 
-        (inside milk__carton.n.01_1 shelf.n.01_2) 
-        (inside apple_juice__bottle.n.01_1 shelf.n.01_2) 
-        (inside pasta__box.n.01_1 shelf.n.01_3) 
-        (inside pasta__box.n.01_2 shelf.n.01_3) 
+        (inside carton__of__milk.n.01_1 shelf.n.01_2) 
+        (inside bottle__of__apple_juice.n.01_1 shelf.n.01_2) 
+        (inside pack__of__pasta.n.01_1 shelf.n.01_3) 
+        (inside pack__of__pasta.n.01_2 shelf.n.01_3) 
         (inside money.n.01_1 shopping_cart.n.01_1) 
         (inside money.n.01_2 shopping_cart.n.01_1) 
         (inside money.n.01_3 shopping_cart.n.01_1) 
         (inside money.n.01_4 shopping_cart.n.01_1) 
-        (inside money.n.01_5 shopping_cart.n.01_1) 
-        (closed cash_register.n.01_1) 
+        (inside money.n.01_5 shopping_cart.n.01_1)
         (inroom floor.n.01_1 grocery_store) 
         (inroom checkout.n.03_1 grocery_store) 
         (inroom shelf.n.01_1 grocery_store) 
@@ -44,11 +43,11 @@
                 (inside ?money.n.01 ?cash_register.n.01_1)
             ) 
             (ontop ?cake.n.03_1 ?checkout.n.03_1) 
-            (ontop ?milk__carton.n.01_1 ?checkout.n.03_1) 
-            (ontop ?apple_juice__bottle.n.01_1 ?checkout.n.03_1) 
+            (ontop ?carton__of__milk.n.01_1 ?checkout.n.03_1) 
+            (ontop ?bottle__of__apple_juice.n.01_1 ?checkout.n.03_1) 
             (forall 
-                (?pasta__box.n.01 - pasta__box.n.01) 
-                (ontop ?pasta__box.n.01 ?checkout.n.03_1)
+                (?pack__of__pasta.n.01 - pack__of__pasta.n.01) 
+                (ontop ?pack__of__pasta.n.01 ?checkout.n.03_1)
             )
         )
     )