remove certain open requriements in bddl

StanfordVL · Mar 14, 2024 · 4ade6aa · 4ade6aa
1 parent 27d5791
commit 4ade6aa
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Showing 9 changed files with 16 additions and 42 deletions.
diff --git a/bddl/activity_definitions/can_beans/problem0.bddl b/bddl/activity_definitions/can_beans/problem0.bddl
@@ -30,9 +30,6 @@
                 (?can.n.01 - can.n.01)
                 (and
                     (filled ?can.n.01 ?black_bean.n.01_1)
-                    (not
-                        (open ?can.n.01)
-                    )
                     (inside ?can.n.01 ?cabinet.n.01_1)
                 )
             )

diff --git a/bddl/activity_definitions/organizing_skating_stuff/problem0.bddl b/bddl/activity_definitions/organizing_skating_stuff/problem0.bddl
@@ -39,9 +39,6 @@
             )
             (inside ?helmet.n.01_1 ?duffel_bag.n.01_1)
             (inside ?puck.n.02_1 ?duffel_bag.n.01_1)
-            (not
-                (open ?duffel_bag.n.01_1)
-            )
             (nextto ?hockey_stick.n.01_1 ?duffel_bag.n.01_1)
         )
     )

diff --git a/bddl/activity_definitions/outfit_a_basic_toolbox/problem0.bddl b/bddl/activity_definitions/outfit_a_basic_toolbox/problem0.bddl
@@ -19,8 +19,7 @@
         (ontop flashlight.n.01_1 floor.n.01_1) 
         (ontop allen_wrench.n.01_1 floor.n.01_1) 
         (ontop screwdriver.n.01_1 floor.n.01_1) 
-        (open toolbox.n.01_1) 
-        (inroom floor.n.01_1 empty_room) 
+        (inroom floor.n.01_1 empty_room)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
@@ -31,9 +30,6 @@
             (inside ?flashlight.n.01_1 ?toolbox.n.01_1)
             (inside ?allen_wrench.n.01_1 ?toolbox.n.01_1)
             (inside ?screwdriver.n.01_1 ?toolbox.n.01_1)
-            (not
-                (open ?toolbox.n.01_1)
-            )
             (ontop ?toolbox.n.01_1 ?floor.n.01_1)
         )
     )

diff --git a/bddl/activity_definitions/pack_a_pencil_case/problem0.bddl b/bddl/activity_definitions/pack_a_pencil_case/problem0.bddl
@@ -17,8 +17,7 @@
         (ontop pen.n.01_1 desk.n.01_1) 
         (ontop pencil.n.01_1 desk.n.01_1) 
         (ontop eraser.n.01_1 desk.n.01_1) 
-        (ontop shears.n.01_1 desk.n.01_1) 
-        (open pencil_box.n.01_1) 
+        (ontop shears.n.01_1 desk.n.01_1)
         (inroom desk.n.01_1 childs_room) 
         (inroom floor.n.01_1 childs_room)
         (ontop agent.n.01_1 floor.n.01_1)
@@ -31,9 +30,6 @@
             (inside ?pencil.n.01_1 ?pencil_box.n.01_1)
             (inside ?eraser.n.01_1 ?pencil_box.n.01_1) 
             (inside ?shears.n.01_1 ?pencil_box.n.01_1)
-            (not
-                (open ?pencil_box.n.01_1)
-            )
         )
     )
 )
diff --git a/bddl/activity_definitions/packing_moving_van/problem0.bddl b/bddl/activity_definitions/packing_moving_van/problem0.bddl
@@ -2,7 +2,7 @@
     (:domain omnigibson)
 
     (:objects
-     	van.n.05_1 - van.n.05
+     	pickup.n.01_1 - pickup.n.01
     	floor.n.01_1 - floor.n.01
     	mattress.n.01_1 - mattress.n.01
     	blanket.n.01_1 - blanket.n.01
@@ -12,7 +12,7 @@
     )
 
     (:init 
-        (ontop van.n.05_1 floor.n.01_1) 
+        (ontop pickup.n.01_1 floor.n.01_1)
         (ontop mattress.n.01_1 floor.n.01_1) 
         (ontop blanket.n.01_1 floor.n.01_1) 
         (ontop carton.n.02_1 floor.n.01_1) 
@@ -26,20 +26,20 @@
 
     (:goal 
         (and 
-            (inside ?mattress.n.01_1 ?van.n.05_1) 
-            (inside ?blanket.n.01_1 ?van.n.05_1) 
+            (ontop ?mattress.n.01_1 ?pickup.n.01_1)
+            (ontop ?blanket.n.01_1 ?pickup.n.01_1)
             (forall 
                 (?carton.n.02 - carton.n.02) 
                 (and
-                    (inside ?carton.n.02 ?van.n.05_1)
+                    (ontop ?carton.n.02 ?pickup.n.01_1)
                     (not
                         (open ?carton.n.02)
                     )
                 )
             )
             (forall 
                 (?chair.n.01 - chair.n.01)
-                (inside ?chair.n.01 ?van.n.05_1)
+                (ontop ?chair.n.01 ?pickup.n.01_1)
             )
         )
     )

diff --git a/bddl/activity_definitions/put_together_a_scrapping_tool_kit/problem0.bddl b/bddl/activity_definitions/put_together_a_scrapping_tool_kit/problem0.bddl
@@ -13,8 +13,7 @@
 
     (:init 
         (ontop toolbox.n.01_1 floor.n.01_1) 
-        (open toolbox.n.01_1) 
-        (ontop pliers.n.01_1 floor.n.01_1) 
+        (ontop pliers.n.01_1 floor.n.01_1)
         (ontop wrench.n.03_1 floor.n.01_1) 
         (ontop hammer.n.02_1 floor.n.01_1) 
         (ontop screwdriver.n.01_1 floor.n.01_1) 
@@ -28,9 +27,6 @@
             (inside ?screwdriver.n.01_1 ?toolbox.n.01_1) 
             (inside ?wrench.n.03_1 ?toolbox.n.01_1) 
             (inside ?pliers.n.01_1 ?toolbox.n.01_1)
-            (not
-                (open ?toolbox.n.01_1)
-            )
         )
     )
 )
diff --git a/bddl/activity_definitions/sending_packages/problem0.bddl b/bddl/activity_definitions/sending_packages/problem0.bddl
@@ -11,9 +11,7 @@
 
     (:init 
         (ontop package.n.02_1 coffee_table.n.01_1) 
-        (ontop package.n.02_2 coffee_table.n.01_1) 
-        (open package.n.02_1)
-        (open package.n.02_1)
+        (ontop package.n.02_2 coffee_table.n.01_1)
         (ontop mailbox.n.01_1 floor.n.01_1) 
         (inroom coffee_table.n.01_1 living_room) 
         (inroom floor.n.01_1 garden) 
@@ -30,9 +28,6 @@
                         (inside ?package.n.02 ?mailbox.n.01_1)
                         (nextto ?package.n.02 ?mailbox.n.01_1)
                     )
-                    (not
-                        (open ?package.n.02)
-                    )
                 )
             ) 
         )

diff --git a/bddl/activity_definitions/store_bobby_pins/problem0.bddl b/bddl/activity_definitions/store_bobby_pins/problem0.bddl
@@ -25,9 +25,6 @@
                 (?bobby_pin.n.01 - bobby_pin.n.01)
                 (inside ?bobby_pin.n.01 ?pencil_box.n.01_1)
             )
-            (not
-                (open ?pencil_box.n.01_1)
-            )
             (inside ?pencil_box.n.01_1 ?shelf.n.01_1)
         )
     )

diff --git a/bddl/activity_definitions/unpacking_moving_van/problem0.bddl b/bddl/activity_definitions/unpacking_moving_van/problem0.bddl
@@ -3,7 +3,7 @@
 
     (:objects
         pan.n.01_1 - pan.n.01
-        van.n.05_1 - van.n.05
+        pickup.n.01_1 - pickup.n.01
         saucepot.n.01_1 - saucepot.n.01
         carton.n.02_1 - carton.n.02
         floor.n.01_1 floor.n.01_2 - floor.n.01
@@ -16,9 +16,9 @@
     (:init 
         (inside pan.n.01_1 carton.n.02_1) 
         (inside saucepot.n.01_1 carton.n.02_1) 
-        (inside carton.n.02_1 van.n.05_1)
-        (ontop van.n.05_1 floor.n.01_1) 
-        (inside blanket.n.01_1 van.n.05_1) 
+        (ontop carton.n.02_1 pickup.n.01_1)
+        (ontop pickup.n.01_1 floor.n.01_1)
+        (ontop blanket.n.01_1 pickup.n.01_1)
         (inroom floor.n.01_1 garden) 
         (inroom bed.n.01_1 bedroom) 
         (inroom cabinet.n.01_1 kitchen) 
@@ -28,8 +28,8 @@
 
     (:goal 
         (and 
-            (inside ?saucepot.n.01_1 ?cabinet.n.01_1) 
-            (inside ?pan.n.01_1 ?cabinet.n.01_1) 
+            (inside ?saucepot.n.01_1 ?cabinet.n.01_1)
+            (inside ?pan.n.01_1 ?cabinet.n.01_1)
             (ontop ?blanket.n.01_1 ?bed.n.01_1)
             (folded ?blanket.n.01_1)
             (ontop ?carton.n.02_1 ?floor.n.01_1)