Merge pull request #259 from StanfordVL/object-init-placement

fix duplicate object initial placements

bddl/activity_definitions/baking_cookies_for_the_PTA_bake_sale/problem0.bddl

@@ -47,9 +47,7 @@
         (ontop electric_mixer.n.01_1 countertop.n.01_1) 
         (attached mixing_bowl.n.01_1 electric_mixer.n.01_1) 
         (inroom oven.n.01_1 kitchen) 
-        (inroom countertop.n.01_1 kitchen) 
-        (inroom countertop.n.01_1 kitchen) 
-        (inroom countertop.n.01_1 kitchen) 
+        (inroom countertop.n.01_1 kitchen)
         (inside bowl.n.01_1 electric_refrigerator.n.01_1) 
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (ontop cookie_sheet.n.01_1 countertop.n.01_1) 

bddl/activity_definitions/changing_light_bulbs/problem0.bddl

@@ -13,8 +13,8 @@
     (:init 
         (ontop table_lamp.n.01_2 floor.n.01_2) 
         (ontop light_bulb.n.01_1 breakfast_table.n.01_1) 
-        (ontop light_bulb.n.01_2 breakfast_table.n.01_1) 
-        (not 
+        (ontop light_bulb.n.01_2 breakfast_table.n.01_1)
+        (not
             (toggled_on table_lamp.n.01_1)
         ) 
         (not 

bddl/activity_definitions/clean_a_beer_keg/problem0.bddl

@@ -28,7 +28,6 @@
         (inroom countertop.n.01_1 kitchen)
         (ontop agent.n.01_1 floor.n.01_1) 
         (filled disinfectant__bottle.n.01_1 disinfectant.n.01_1) 
-        (ontop disinfectant__bottle.n.01_1 floor.n.01_1)
     )
 
     (:goal 

bddl/activity_definitions/cleaning_driveway/problem0.bddl

@@ -12,11 +12,9 @@
 
     (:init 
         (covered driveway.n.01_1 bunchgrass.n.01_1) 
-        (covered driveway.n.01_1 dust.n.01_1) 
-        (not 
-            (ontop broom.n.01_1 driveway.n.01_1)
-        ) 
-        (inroom driveway.n.01_1 garden) 
+        (covered driveway.n.01_1 dust.n.01_1)
+        (ontop broom.n.01_1 driveway.n.01_1)
+        (inroom driveway.n.01_1 garden)
         (inroom floor.n.01_1 garden) 
         (ontop agent.n.01_1 floor.n.01_1)
     )

bddl/activity_definitions/cleaning_glasses_off_bar/problem0.bddl

@@ -32,7 +32,6 @@
         (ontop wineglass.n.01_2 bar.n.02_1) 
         (ontop wineglass.n.01_3 bar.n.02_1)
         (ontop beer_glass.n.01_1 bar.n.02_1)
-        (ontop beer_glass.n.01_1 bar.n.02_1)
         (ontop beer_glass.n.01_2 bar.n.02_1)
         (inroom bar.n.02_1 bar) 
         (inroom sink.n.01_1 bar) 

bddl/activity_definitions/clearing_table_after_breakfast/problem0.bddl

@@ -29,8 +29,7 @@
         (ontop pitcher.n.02_1 breakfast_table.n.01_1)
         (covered mug.n.04_1 chocolate_milk.n.01_1)
         (filled pitcher.n.02_1 chocolate_milk.n.01_1)
-        (inside pitcher.n.02_1 electric_refrigerator.n.01_1)
-        (insource sink.n.01_1 water.n.06_1) 
+        (insource sink.n.01_1 water.n.06_1)
         (inroom shelf.n.01_1 kitchen) 
         (inroom sink.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen) 

bddl/activity_definitions/cold_brew_coffee/problem0.bddl

@@ -18,8 +18,7 @@
         (ontop mason_jar.n.01_1 countertop.n.01_1) 
         (ontop tablespoon.n.02_1 countertop.n.01_1) 
         (insource sink.n.01_1 water.n.06_1) 
-        (ontop mason_jar.n.01_1 countertop.n.01_1) 
-        (inroom countertop.n.01_1 kitchen) 
+        (inroom countertop.n.01_1 kitchen)
         (inroom sink.n.01_1 kitchen) 
         (inroom floor.n.01_1 kitchen) 
         (inroom electric_refrigerator.n.01_1 kitchen)

bddl/activity_definitions/cook_ground_beef/problem0.bddl

@@ -29,8 +29,7 @@
         (insource salt__shaker.n.01_1 salt.n.02_1)
         (ontop salt__shaker.n.01_1 countertop.n.01_1)
         (filled bowl.n.01_1 ground_beef.n.01_1) 
-        (inside bowl.n.01_1 electric_refrigerator.n.01_1)
-        (inroom oven.n.01_1 kitchen) 
+        (inroom oven.n.01_1 kitchen)
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom countertop.n.01_1 kitchen) 
         (inroom floor.n.01_1 kitchen) 

bddl/activity_definitions/cook_tofu/problem0.bddl

@@ -33,7 +33,6 @@
             (cooked tofu.n.02_4)
         ) 
         (inside wok.n.01_1 cabinet.n.01_1) 
-        (inside wok.n.01_1 cabinet.n.01_1) 
         (insource sink.n.01_1 water.n.06_1)
         (inroom electric_refrigerator.n.01_1 kitchen) 
         (inroom floor.n.01_1 kitchen) 

bddl/activity_definitions/defrosting_freezer/problem0.bddl

@@ -2,7 +2,6 @@
     (:domain omnigibson)
 
     (:objects
-        stain.n.01_1 - stain.n.01
      	floor.n.01_1 - floor.n.01
     	electric_refrigerator.n.01_1 - electric_refrigerator.n.01
     	sink.n.01_1 - sink.n.01
@@ -16,17 +15,11 @@
     	agent.n.01_1 - agent.n.01
     )
 
-    (:init 
-        (not 
-            (covered sink.n.01_1 stain.n.01_1)
-        ) 
+    (:init
         (ontop dustpan.n.02_1 floor.n.01_1) 
         (ontop bucket.n.01_1 floor.n.01_1) 
         (ontop scraper.n.01_1 countertop.n.01_1) 
-        (ontop towel.n.01_1 countertop.n.01_1) 
-        (not 
-            (covered towel.n.01_1 stain.n.01_1)
-        ) 
+        (ontop towel.n.01_1 countertop.n.01_1)
         (ontop rag.n.01_1 countertop.n.01_1) 
         (inside crayfish.n.02_1 electric_refrigerator.n.01_1) 
         (inside crayfish.n.02_2 electric_refrigerator.n.01_1) 

bddl/activity_definitions/drape_window_scarves/problem0.bddl

@@ -10,10 +10,9 @@
     )
 
     (:init 
-        (ontop curtain.n.01_1 floor.n.01_1) 
-        (attached curtain_rod.n.01_1 wall.n.01_1) 
-        (ontop curtain.n.01_1 floor.n.01_1) 
-        (inroom floor.n.01_1 bedroom) 
+        (ontop curtain.n.01_1 floor.n.01_1)
+        (attached curtain_rod.n.01_1 wall.n.01_1)
+        (inroom floor.n.01_1 bedroom)
         (inroom wall.n.01_1 bedroom) 
         (ontop agent.n.01_1 floor.n.01_1)
     )

bddl/activity_definitions/make_a_vinegar_cleaning_solution/problem0.bddl

@@ -24,8 +24,7 @@
         (ontop lemon_juice__bottle.n.01_1 countertop.n.01_1) 
         (ontop tablespoon.n.02_1 countertop.n.01_1) 
         (ontop erlenmeyer_flask.n.01_1 countertop.n.01_1) 
-        (ontop vinegar__bottle.n.01_1 countertop.n.01_1) 
-        (inroom countertop.n.01_1 kitchen) 
+        (inroom countertop.n.01_1 kitchen)
         (inroom sink.n.01_1 kitchen) 
         (future vinegar_cleaning_solution.n.01_1) 
         (inroom floor.n.01_1 kitchen) 

bddl/activity_definitions/make_chicken_fajitas/problem0.bddl

@@ -55,12 +55,10 @@
         (inside bell_pepper.n.02_1 electric_refrigerator.n.01_1) 
         (inside beefsteak_tomato.n.01_1 electric_refrigerator.n.01_1)
         (ontop vidalia_onion.n.01_1 countertop.n.01_1)
-        (ontop beefsteak_tomato.n.01_1 countertop.n.01_1) 
         (ontop pepper__shaker.n.01_1 countertop.n.01_1)
         (ontop chopping_board.n.01_1 countertop.n.01_1)
         (ontop carving_knife.n.01_1 countertop.n.01_1)
         (insource pepper__shaker.n.01_1 black_pepper.n.02_1)
-        (ontop pepper__shaker.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)
         (insource marjoram__shaker.n.01_1 marjoram.n.02_1)

bddl/activity_definitions/make_cookie_dough/problem0.bddl

@@ -37,8 +37,7 @@
         (filled vanilla__bottle.n.01_1 vanilla.n.02_1) 
         (inside vanilla__bottle.n.01_1 electric_refrigerator.n.01_1) 
         (inside butter.n.01_1 bowl.n.01_1) 
-        (inside bowl.n.01_1 electric_refrigerator.n.01_1) 
-        (ontop bowl.n.01_1 countertop.n.01_2) 
+        (ontop bowl.n.01_1 countertop.n.01_2)
         (filled baking_powder__jar.n.01_1 baking_powder.n.01_1) 
         (inside baking_powder__jar.n.01_1 cabinet.n.01_1) 
         (insource salt__shaker.n.01_1 salt.n.02_1)

bddl/activity_definitions/make_fish_and_chips/problem0.bddl

@@ -17,8 +17,7 @@
     )
 
     (:init 
-        (ontop trout.n.01_1 countertop.n.01_1) 
-        (not 
+        (not
             (cooked trout.n.01_1)
         )
         (frozen trout.n.01_1)

bddl/activity_definitions/make_limeade/problem0.bddl

@@ -27,8 +27,7 @@
         (inside lime_juice__bottle.n.01_1 electric_refrigerator.n.01_1) 
         (ontop pitcher.n.02_1 countertop.n.01_1) 
         (ontop wooden_spoon.n.02_1 countertop.n.01_1)
-        (ontop pitcher.n.02_1 countertop.n.01_1) 
-        (inside ice_cube.n.01_1 bowl.n.01_1) 
+        (inside ice_cube.n.01_1 bowl.n.01_1)
         (inside ice_cube.n.01_2 bowl.n.01_1) 
         (inside ice_cube.n.01_3 bowl.n.01_1) 
         (inside ice_cube.n.01_4 bowl.n.01_1) 

bddl/activity_definitions/make_red_beans_and_rice/problem0.bddl

@@ -43,7 +43,6 @@
         (ontop clove.n.03_1 chopping_board.n.01_1)
         (ontop clove.n.03_2 chopping_board.n.01_1)
         (ontop clove.n.03_3 chopping_board.n.01_1)
-        (ontop chopping_board.n.01_1 countertop.n.01_1)
         (filled mason_jar.n.01_1 kidney_bean.n.01_1)
         (ontop mason_jar.n.01_1 countertop.n.01_1)
         (ontop beefsteak_tomato.n.01_1 countertop.n.01_1)

bddl/activity_definitions/make_the_workplace_exciting/problem0.bddl

@@ -18,7 +18,6 @@
             (attached poster.n.01_1 wall.n.01_1)
         )
         (inside board_game.n.01_1 carton.n.02_2) 
-        (inside board_game.n.01_1 carton.n.02_2) 
         (inside coffee_maker.n.01_1 carton.n.02_1)
         (ontop carton.n.02_1 floor.n.01_1) 
         (ontop carton.n.02_2 floor.n.01_1) 

bddl/activity_definitions/passing_out_drinks/problem0.bddl

@@ -18,12 +18,10 @@
     (:init 
         (filled beer_bottle.n.01_1 beer.n.01_1)
         (inside beer_bottle.n.01_1 cabinet.n.01_1)
-        (inside beer_bottle.n.01_1 cabinet.n.01_1) 
         (inside bottle__of__champagne.n.01_1 cabinet.n.01_1)
         (filled pitcher.n.02_1 martini.n.01_1) 
         (inside pitcher.n.02_1 cabinet.n.01_1)
         (inside wineglass.n.01_1 cabinet.n.01_1) 
-        (inside wineglass.n.01_1 cabinet.n.01_1) 
         (inside beer_glass.n.01_1 cabinet.n.01_1)
         (inroom floor.n.01_1 dining_room) 
         (inroom breakfast_table.n.01_1 dining_room) 

bddl/activity_definitions/prepare_wine_and_cheese/problem0.bddl

@@ -28,8 +28,7 @@
     (:init 
         (ontop cheddar.n.02_1 plate.n.04_1)
         (ontop feta.n.01_1 plate.n.04_1)
-        (inside plate.n.04_1 electric_refrigerator.n.01_1)
-        (filled wine_bottle.n.01_1 white_wine.n.01_1) 
+        (filled wine_bottle.n.01_1 white_wine.n.01_1)
         (filled wine_bottle.n.01_2 champagne.n.01_1) 
         (inside wine_bottle.n.01_1 electric_refrigerator.n.01_1)
         (inside wine_bottle.n.01_2 electric_refrigerator.n.01_1)

bddl/activity_definitions/putting_up_outdoor_holiday_decorations/problem0.bddl

@@ -31,7 +31,6 @@
         (inroom wall.n.01_1 garden) 
         (inroom floor.n.01_2 living_room) 
         (inroom rail_fence.n.01_1 garden) 
-        (ontop pot_plant.n.01_1 floor.n.01_1) 
         (ontop agent.n.01_1 floor.n.01_2)
     )
 

bddl/activity_definitions/removing_ice_from_walkways/problem0.bddl

@@ -26,8 +26,7 @@
         (ontop shovel.n.01_1 driveway.n.01_1) 
         (filled bucket.n.01_1 water.n.06_1) 
         (filled bucket.n.01_1 rubbing_alcohol.n.01_1) 
-        (ontop shovel.n.01_1 wall.n.01_1) 
-        (ontop bucket.n.01_1 driveway.n.01_1) 
+        (ontop bucket.n.01_1 driveway.n.01_1)
         (inroom driveway.n.01_1 garden) 
         (inroom wall.n.01_1 garden) 
         (inroom floor.n.01_1 garden) 

bddl/activity_definitions/set_a_fancy_table/problem0.bddl

@@ -33,7 +33,6 @@
         (ontop table_knife.n.01_1 console_table.n.01_1)
         (ontop tablefork.n.01_1 console_table.n.01_1) 
         (ontop wine_bottle.n.01_1 console_table.n.01_1)
-        (ontop tablespoon.n.02_1 console_table.n.01_1) 
         (ontop saucer.n.02_1 console_table.n.01_1) 
         (ontop plate.n.04_1 console_table.n.01_1)
         (ontop bouquet.n.01_1 console_table.n.01_1) 

bddl/activity_definitions/store_silver_coins/problem0.bddl

@@ -2,7 +2,7 @@
     (:domain omnigibson)
 
     (:objects
-        silver.n.02_1 silver.n.02_3 - silver.n.02
+        silver.n.02_1 silver.n.02_2 - silver.n.02
         hand_towel.n.01_1 - hand_towel.n.01
         breakfast_table.n.01_1 - breakfast_table.n.01
         cup.n.01_1 - cup.n.01
@@ -13,9 +13,8 @@
 
     (:init 
         (ontop silver.n.02_1 breakfast_table.n.01_1)
-        (ontop silver.n.02_1 breakfast_table.n.01_1)
-        (ontop silver.n.02_3 breakfast_table.n.01_1)
-        (ontop hand_towel.n.01_1 breakfast_table.n.01_1) 
+        (ontop silver.n.02_2 breakfast_table.n.01_1)
+        (ontop hand_towel.n.01_1 breakfast_table.n.01_1)
         (ontop cup.n.01_1 breakfast_table.n.01_1) 
         (inroom cabinet.n.01_1 private_office) 
         (inroom breakfast_table.n.01_1 private_office) 

bddl/activity_definitions/wash_towels/problem0.bddl

@@ -16,7 +16,6 @@
         (ontop bath_towel.n.01_2 washer.n.03_1) 
         (ontop bath_towel.n.01_1 floor.n.01_1) 
         (covered bath_towel.n.01_1 dirt.n.02_1)
-        (ontop bath_towel.n.01_2 floor.n.01_1) 
         (covered bath_towel.n.01_2 dirt.n.02_1)
         (ontop detergent__bottle.n.01_1 floor.n.01_1) 
         (filled detergent__bottle.n.01_1 detergent.n.02_1) 

bddl/bddl_verification.py

@@ -116,21 +116,13 @@
     "lobby"
 ])
 PLACEMENTS = set([
-    # "connected",
-    "ontop", 
+    "ontop",
     "inside", 
     "under", 
-    "filled", 
-    "covered", 
-    "overlaid", 
-    "saturated", 
-    "inroom", 
-    "insource", 
-    # "hung", 
+    "overlaid",
     "future",
     "attached",
     "draped",
-    "contains"
 ])
 SUBSTANCE_PLACEMENTS = set(["saturated", "filled", "covered", "insource", "contains"])
 FUTURE_PREDICATE = "future"
@@ -482,24 +474,52 @@ def all_objects_placed(init):
     insts = _get_instances_in_init(init)
     insts = set([inst for inst in insts if ["future", inst] not in init])
 
-    # Make sure everything not set to `future` is placed relative to a ROOM
-    placed_insts = set()
-    old_placed_insts = set()
-    saturated = False 
-    while not saturated:
-        for inst in insts:                 
-            if inst in placed_insts:
+    in_room_check = True
+    last_placed = None
+    while True:
+        newly_placed = set()
+        for literal in init:
+            # Skip not literals
+            if literal[0] == "not":
                 continue
-            for literal in init: 
-                formula = literal[1] if literal[0] == "not" else literal 
-                # NOTE only uncomment below line suffix when dealing with situations where substance and object have been flipped
-                if (formula[0] == FUTURE_PREDICATE and formula[1] == inst) or ((formula[0] in PLACEMENTS) and (formula[1] == inst) and ((formula[2] in ROOMS) or (formula[2] in placed_insts))) or ((formula[0] in SUBSTANCE_PLACEMENTS) and (formula[1] in placed_insts) and (formula[2] == inst)):
-                    placed_insts.add(inst)
-        saturated = old_placed_insts == placed_insts 
-        old_placed_insts = copy.deepcopy(placed_insts)
-    assert not placed_insts.difference(insts), "There are somehow placed insts that are not in the overall set of insts."
-    assert placed_insts == insts, f"Unplaced object instances: {insts.difference(placed_insts)}"
+            formula = literal
+            # Skip future literals
+            if formula[0] == "future":
+                continue
+            inst = None
+            substance_placement = False
+            if in_room_check:
+                # For the first round, check for inroom
+                if (formula[0] == "inroom") and (formula[2] in ROOMS):
+                    inst = formula[1]
+            else:
+                # For the following rounds, check for placements w.r.t last placed objects
+                if (formula[0] in PLACEMENTS) and (formula[2] in last_placed):
+                    inst = formula[1]
+                # Or substasnce placements w.r.t last placed objects
+                elif (formula[0] in SUBSTANCE_PLACEMENTS) and (formula[1] in last_placed):
+                    inst = formula[2]
+                    substance_placement = True
+
+            if inst is not None:
+                # If it's not a substance placement, we make sure it's only placed once (e.g. we should not place the
+                # same eapple on table1 and on table2). If it's a substance placement, it's fine (e.g. we can do stain
+                # covering table1 and table2)
+                if not substance_placement:
+                    assert inst not in newly_placed, f"Object {inst} is placed twice"
+                newly_placed.add(inst)
+
+        # If no new objects were placed, we're done
+        if len(newly_placed) == 0:
+            break
+
+        # Otherwise, we remove the newly placed objects from the list of objects to place and continue
+        insts -= newly_placed
+        last_placed = newly_placed
+        in_room_check = False
 
+    # If there are any objects left, they are unplaced
+    assert len(insts) == 0, f"Unplaced object instances: {insts}"
 
 def no_invalid_synsets(objects, init, goal, syns_to_props):
     instances, categories = _get_objects_from_object_list(objects)