update bddls for sampling

StanfordVL · Mar 15, 2024 · 5650019 · 5650019
1 parent 79d027e
commit 5650019
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Showing 13 changed files with 62 additions and 48 deletions.
diff --git a/bddl/activity_definitions/bringing_glass_to_recycling/problem0.bddl b/bddl/activity_definitions/bringing_glass_to_recycling/problem0.bddl
@@ -12,7 +12,6 @@
     (:init 
         (ontop water_glass.n.02_1 floor.n.01_1) 
         (ontop recycling_bin.n.01_1 floor.n.01_2) 
-        (open recycling_bin.n.01_1) 
         (inroom door.n.01_1 kitchen) 
         (inroom floor.n.01_1 kitchen) 
         (inroom floor.n.01_2 garden) 

diff --git a/bddl/activity_definitions/clean_an_espresso_machine/problem0.bddl b/bddl/activity_definitions/clean_an_espresso_machine/problem0.bddl
@@ -27,7 +27,9 @@
         (covered coffee_maker.n.01_1 coffee_grounds.n.01_1)
         (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1) 
         (ontop liquid_soap__bottle.n.01_1 countertop.n.01_1) 
-        (toggled_on coffee_maker.n.01_1) 
+        (not 
+            (toggled_on coffee_maker.n.01_1)
+        ) 
         (insource sink.n.01_1 water.n.06_1) 
         (filled disinfectant__bottle.n.01_1 disinfectant.n.01_1) 
         (ontop disinfectant__bottle.n.01_1 countertop.n.01_1)
@@ -44,10 +46,7 @@
             (not
                 (covered ?coffee_maker.n.01_1 ?coffee_grounds.n.01_1)
             )
-            (not 
-                (toggled_on ?coffee_maker.n.01_1)
-            )
             (covered ?coffee_maker.n.01_1 ?disinfectant.n.01_1)
         )
     )
-)
+)
diff --git a/bddl/activity_definitions/clean_brooms/problem0.bddl b/bddl/activity_definitions/clean_brooms/problem0.bddl
@@ -4,18 +4,26 @@
     (:objects
         floor.n.01_1 - floor.n.01
         broom.n.01_1 broom.n.01_2 - broom.n.01
-        dust.n.01_1 - dust.n.01
+        stain.n.01_1 - stain.n.01
         rag.n.01_1 - rag.n.01
+        detergent.n.02_1 - detergent.n.02
+        detergent__bottle.n.01_1 - detergent__bottle.n.01
+        water.n.06_1 - water.n.06
+        sink.n.01_1 - sink.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
         (ontop broom.n.01_2 floor.n.01_1) 
         (ontop broom.n.01_1 floor.n.01_1) 
         (ontop rag.n.01_1 floor.n.01_1)
-        (covered broom.n.01_1 dust.n.01_1) 
-        (covered broom.n.01_2 dust.n.01_1) 
+        (covered broom.n.01_1 stain.n.01_1) 
+        (covered broom.n.01_2 stain.n.01_1) 
         (inroom floor.n.01_1 utility_room) 
+        (filled detergent__bottle.n.01_1 detergent.n.02_1) 
+        (ontop detergent__bottle.n.01_1 floor.n.01_1)
+        (insource sink.n.01_1 water.n.06_1) 
+        (inroom sink.n.01_1 utility_room) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
@@ -24,9 +32,9 @@
             (forall 
                 (?broom.n.01 - broom.n.01)
                 (not
-                    (covered ?broom.n.01 ?dust.n.01_1)
+                    (covered ?broom.n.01 ?stain.n.01_1)
                 )
             )
         )
     )
-)
+)
diff --git a/bddl/activity_definitions/clean_household_cleaning_tools/problem0.bddl b/bddl/activity_definitions/clean_household_cleaning_tools/problem0.bddl
@@ -9,11 +9,12 @@
         sink.n.01_1 - sink.n.01
         broom.n.01_1 - broom.n.01
         swab.n.02_1 - swab.n.02
-        scrub_brush.n.01_1 - scrub_brush.n.01
+        mop_bucket.n.01_1 - mop_bucket.n.01
         bucket.n.01_1 - bucket.n.01
         disinfectant.n.01_1 - disinfectant.n.01
         disinfectant__bottle.n.01_1 - disinfectant__bottle.n.01
         dust.n.01_1 - dust.n.01
+        stain.n.01_1 - stain.n.01
         water.n.06_1 - water.n.06
         agent.n.01_1 - agent.n.01
     )
@@ -24,7 +25,7 @@
         (ontop rag.n.01_1 floor.n.01_1) 
         (ontop broom.n.01_1 floor.n.01_1) 
         (ontop swab.n.02_1 floor.n.01_1) 
-        (ontop scrub_brush.n.01_1 floor.n.01_1) 
+        (ontop mop_bucket.n.01_1 floor.n.01_1) 
         (ontop bucket.n.01_1 floor.n.01_1) 
         (not 
             (covered broom.n.01_1 disinfectant.n.01_1)
@@ -33,14 +34,14 @@
             (covered swab.n.02_1 disinfectant.n.01_1)
         ) 
         (not 
-            (covered scrub_brush.n.01_1 disinfectant.n.01_1)
+            (covered mop_bucket.n.01_1 disinfectant.n.01_1)
         ) 
         (not 
             (covered bucket.n.01_1 disinfectant.n.01_1)
         ) 
-        (covered broom.n.01_1 dust.n.01_1)
+        (covered broom.n.01_1 stain.n.01_1)
         (covered swab.n.02_1 dust.n.01_1)
-        (covered scrub_brush.n.01_1 dust.n.01_1)
+        (covered mop_bucket.n.01_1 dust.n.01_1)
         (covered bucket.n.01_1 dust.n.01_1)
         (insource sink.n.01_1 water.n.06_1) 
         (ontop agent.n.01_1 floor.n.01_1) 
@@ -54,20 +55,20 @@
         (and 
             (covered ?broom.n.01_1 ?disinfectant.n.01_1)
             (not 
-                (covered ?broom.n.01_1 ?dust.n.01_1)
+                (covered ?broom.n.01_1 ?stain.n.01_1)
             )
             (covered ?swab.n.02_1 ?disinfectant.n.01_1)
             (not 
                 (covered ?swab.n.02_1 ?dust.n.01_1)
             )
-            (covered ?scrub_brush.n.01_1 ?disinfectant.n.01_1)
+            (covered ?mop_bucket.n.01_1 ?disinfectant.n.01_1)
             (not 
-                (covered ?scrub_brush.n.01_1 ?dust.n.01_1)
+                (covered ?mop_bucket.n.01_1 ?dust.n.01_1)
             )
             (covered ?bucket.n.01_1 ?disinfectant.n.01_1)
             (not 
                 (covered ?bucket.n.01_1 ?dust.n.01_1)
             )
         )
     )
-)
+)
diff --git a/bddl/activity_definitions/clean_suede_gloves/problem0.bddl b/bddl/activity_definitions/clean_suede_gloves/problem0.bddl
@@ -4,7 +4,7 @@
     (:objects
         stain.n.01_1 - stain.n.01
         kid_glove.n.01_1 - kid_glove.n.01
-        stool.n.01_1 - stool.n.01
+        stool.n.01_1 stool.n.01_2 - stool.n.01
         vinegar.n.01_1 - vinegar.n.01
         vinegar__bottle.n.01_1 - vinegar__bottle.n.01
         hand_towel.n.01_1 - hand_towel.n.01
@@ -17,9 +17,10 @@
         (ontop kid_glove.n.01_1 stool.n.01_1)
         (filled vinegar__bottle.n.01_1 vinegar.n.01_1) 
         (ontop hand_towel.n.01_1 stool.n.01_1) 
-        (ontop vinegar__bottle.n.01_1 stool.n.01_1) 
+        (ontop vinegar__bottle.n.01_1 stool.n.01_2) 
         (inroom floor.n.01_1 utility_room) 
         (ontop stool.n.01_1 floor.n.01_1) 
+        (ontop stool.n.01_2 floor.n.01_1) 
         (ontop agent.n.01_1 floor.n.01_1)
     )
 
@@ -30,4 +31,4 @@
             )
         )
     )
-)
+)
diff --git a/bddl/activity_definitions/clean_tweed/problem0.bddl b/bddl/activity_definitions/clean_tweed/problem0.bddl
@@ -2,6 +2,7 @@
     (:domain omnigibson)
 
     (:objects
+    	stool.n.01_1 - stool.n.01
         stain.n.01_1 - stain.n.01
         wool_coat.n.01_1 wool_coat.n.01_2 - wool_coat.n.01
         bucket.n.01_1 bucket.n.01_2 - bucket.n.01
@@ -21,8 +22,9 @@
         (ontop wool_coat.n.01_1 countertop.n.01_1)
         (ontop wool_coat.n.01_2 countertop.n.01_1)
         (ontop sponge.n.01_1 countertop.n.01_1)
+        (ontop stool.n.01_1 floor.n.01_1)
         (filled shampoo__bottle.n.01_1 shampoo.n.01_1) 
-        (ontop shampoo__bottle.n.01_1 countertop.n.01_1)
+        (ontop shampoo__bottle.n.01_1 stool.n.01_1)
         (ontop bucket.n.01_1 countertop.n.01_1) 
         (ontop bucket.n.01_2 countertop.n.01_1) 
         (insource sink.n.01_1 water.n.06_1) 
@@ -42,4 +44,4 @@
             ) 
         )
     )
-)
+)
diff --git a/bddl/activity_definitions/clean_up_your_desk/problem0.bddl b/bddl/activity_definitions/clean_up_your_desk/problem0.bddl
@@ -27,7 +27,7 @@
         (ontop mail.n.04_1 notebook.n.01_1) 
         (ontop mail.n.04_2 desk.n.01_1) 
         (ontop folder.n.02_1 desk.n.01_1) 
-        (ontop folder.n.02_2 swivel_chair.n.01_1)
+        (ontop folder.n.02_2 floor.n.01_1)
         (ontop shears.n.01_1 floor.n.01_1) 
         (ontop pencil.n.01_1 desk.n.01_1) 
         (ontop pen.n.01_1 swivel_chair.n.01_1)
@@ -36,7 +36,7 @@
         (ontop laptop.n.01_1 desk.n.01_1) 
         (ontop tray.n.01_1 desk.n.01_1) 
         (ontop paperback_book.n.01_1 desk.n.01_1) 
-        (ontop paperback_book.n.01_2 swivel_chair.n.01_1)
+        (ontop paperback_book.n.01_2 floor.n.01_1)
         (ontop pencil_box.n.01_1 desk.n.01_1)
         (inroom cabinet.n.01_1 private_office) 
         (inroom shelf.n.01_1 private_office) 
@@ -85,4 +85,4 @@
             )
         )
     )
-)
+)
diff --git a/bddl/activity_definitions/clean_your_cleaning_supplies/problem0.bddl b/bddl/activity_definitions/clean_your_cleaning_supplies/problem0.bddl
@@ -2,7 +2,8 @@
     (:domain omnigibson)
 
     (:objects
-        scrub_brush.n.01_1 - scrub_brush.n.01
+        mop_bucket.n.01_1 - mop_bucket.n.01
+        swab.n.02_1 - swab.n.02
         sink.n.01_1 - sink.n.01
         rag.n.01_1 - rag.n.01
         stain.n.01_1 - stain.n.01
@@ -17,11 +18,14 @@
     )
 
     (:init 
-        (covered scrub_brush.n.01_1 dust.n.01_1) 
-        (covered scrub_brush.n.01_1 mold.n.05_1)
+        (covered mop_bucket.n.01_1 dust.n.01_1) 
+        (covered mop_bucket.n.01_1 mold.n.05_1)
+        (covered swab.n.02_1 dust.n.01_1) 
+        (covered swab.n.02_1 mold.n.05_1)
         (covered rag.n.01_1 stain.n.01_1) 
         (ontop rag.n.01_1 countertop.n.01_1)
-        (ontop scrub_brush.n.01_1 countertop.n.01_1)
+        (ontop mop_bucket.n.01_1 countertop.n.01_1)
+        (ontop swab.n.02_1 floor.n.01_1)
         (filled detergent__bottle.n.01_1 detergent.n.02_1) 
         (ontop detergent__bottle.n.01_1 countertop.n.01_1)
         (insource sink.n.01_1 water.n.06_1) 
@@ -34,14 +38,20 @@
     (:goal 
         (and 
             (not 
-                (covered ?scrub_brush.n.01_1 ?dust.n.01_1)
+                (covered ?mop_bucket.n.01_1 ?dust.n.01_1)
             ) 
             (not 
-                (covered ?scrub_brush.n.01_1 ?mold.n.05_1)
+                (covered ?mop_bucket.n.01_1 ?mold.n.05_1)
+            ) 
+            (not 
+                (covered ?swab.n.02_1 ?dust.n.01_1)
+            ) 
+            (not 
+                (covered ?swab.n.02_1 ?mold.n.05_1)
             ) 
             (not 
                 (covered ?rag.n.01_1 ?stain.n.01_1)
             )
         )
     )
-)
+)
diff --git a/bddl/activity_definitions/cleaning_patio_furniture/problem0.bddl b/bddl/activity_definitions/cleaning_patio_furniture/problem0.bddl
@@ -24,7 +24,7 @@
         (filled bucket.n.01_1 water.n.06_1) 
         (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1)
         (ontop liquid_soap__bottle.n.01_1 coffee_table.n.01_1)
-        (inside rag.n.01_1 bucket.n.01_1) 
+        (ontop rag.n.01_1 floor.n.01_1) 
         (covered coffee_table.n.01_1 dirt.n.02_1) 
         (covered lawn_chair.n.01_1 mildew.n.02_1)
         (covered lawn_chair.n.01_2 mildew.n.02_1)
@@ -48,4 +48,4 @@
             )
         )
     )
-)
+)
diff --git a/bddl/activity_definitions/clearing_table_after_coffee/problem0.bddl b/bddl/activity_definitions/clearing_table_after_coffee/problem0.bddl
@@ -2,7 +2,6 @@
     (:domain omnigibson)
 
     (:objects
-        coffee_maker.n.01_1 - coffee_maker.n.01
         countertop.n.01_1 - countertop.n.01
         mug.n.04_1 mug.n.04_2 - mug.n.04
         drip_coffee.n.01_1 - drip_coffee.n.01
@@ -12,8 +11,6 @@
     )
 
     (:init 
-        (toggled_on coffee_maker.n.01_1)
-        (ontop coffee_maker.n.01_1 countertop.n.01_1)
         (ontop mug.n.04_1 countertop.n.01_1)
         (ontop mug.n.04_2 countertop.n.01_1)
         (filled mug.n.04_1 drip_coffee.n.01_1)
@@ -25,9 +22,6 @@
 
     (:goal 
         (and 
-            (not 
-                (toggled_on ?coffee_maker.n.01_1)
-            )
             (forall 
                 (?mug.n.04 - mug.n.04)
                 (not

diff --git a/bddl/activity_definitions/disposing_of_trash_for_adult/problem0.bddl b/bddl/activity_definitions/disposing_of_trash_for_adult/problem0.bddl
@@ -21,7 +21,7 @@
         (ontop paper_towel.n.01_1 floor.n.01_1) 
         (ontop ashcan.n.01_1 floor.n.01_1) 
         (ontop straw.n.04_1 stove.n.01_1) 
-        (overlaid plastic_wrap.n.01_1 tray.n.01_1) 
+        (ontop plastic_wrap.n.01_1 tray.n.01_1) 
         (covered straw.n.04_1 water.n.06_1) 
         (ontop agent.n.01_1 floor.n.01_1) 
         (inroom floor.n.01_1 kitchen) 
@@ -41,4 +41,4 @@
             )
         ) 
     )
-)
+)
diff --git a/bddl/activity_definitions/scrubbing_bathroom_floor/problem0.bddl b/bddl/activity_definitions/scrubbing_bathroom_floor/problem0.bddl
@@ -13,7 +13,7 @@
     (:init 
         (covered floor.n.01_1 dirt.n.02_1) 
         (filled bucket.n.01_1 water.n.06_1) 
-        (ontop scrub_brush.n.01_1 bucket.n.01_1) 
+        (ontop scrub_brush.n.01_1 floor.n.01_1) 
         (ontop bucket.n.01_1 floor.n.01_1) 
         (inroom floor.n.01_1 bathroom) 
         (ontop agent.n.01_1 floor.n.01_1)
@@ -26,4 +26,4 @@
             )
         )
     )
-)
+)
diff --git a/bddl/activity_definitions/wash_a_wool_coat/problem0.bddl b/bddl/activity_definitions/wash_a_wool_coat/problem0.bddl
@@ -21,7 +21,7 @@
         (covered wool_coat.n.01_1 lint.n.01_1)
         (ontop scrub_brush.n.01_1 washer.n.03_1) 
         (filled detergent__bottle.n.01_1 detergent.n.02_1) 
-        (ontop detergent__bottle.n.01_1 clothes_dryer.n.01_1)
+        (ontop detergent__bottle.n.01_1 washer.n.03_1)
         (ontop hand_towel.n.01_1 clothes_dryer.n.01_1)
         (inroom floor.n.01_1 utility_room) 
         (inroom clothes_dryer.n.01_1 utility_room)