diff --git a/bddl/activity_definitions/boxing_food_after_dinner/problem0.bddl b/bddl/activity_definitions/boxing_food_after_dinner/problem0.bddl index 903f50f4..1672493c 100644 --- 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) @@ -24,8 +31,8 @@ (: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 diff --git a/bddl/activity_definitions/clean_a_loofah_or_natural_sponge/problem0.bddl b/bddl/activity_definitions/clean_a_loofah_or_natural_sponge/problem0.bddl index d738f9c6..dfc46c7d 100644 --- a/bddl/activity_definitions/clean_a_loofah_or_natural_sponge/problem0.bddl +++ b/bddl/activity_definitions/clean_a_loofah_or_natural_sponge/problem0.bddl @@ -7,7 +7,7 @@ water.n.06_1 - water.n.06 rag.n.01_1 - rag.n.01 bleaching_agent.n.01_1 - bleaching_agent.n.01 - bleaching_agent__bottle.n.01_1 - bleaching_agent__bottle.n.01 + bleaching_agent__atomizer.n.01_1 - bleaching_agent__atomizer.n.01 sink.n.01_1 - sink.n.01 floor.n.01_1 - floor.n.01 agent.n.01_1 - agent.n.01 @@ -15,8 +15,8 @@ (:init (covered loofa.n.01_1 stain.n.01_1) - (filled bleaching_agent__bottle.n.01_1 bleaching_agent.n.01_1) - (ontop bleaching_agent__bottle.n.01_1 floor.n.01_1) + (insource bleaching_agent__atomizer.n.01_1 bleaching_agent.n.01_1) + (ontop bleaching_agent__atomizer.n.01_1 floor.n.01_1) (inside loofa.n.01_1 sink.n.01_1) (inside rag.n.01_1 sink.n.01_1) (insource sink.n.01_1 water.n.06_1) diff --git a/bddl/activity_definitions/clean_a_sauna/problem0.bddl b/bddl/activity_definitions/clean_a_sauna/problem0.bddl index c971992b..67f20a5e 100644 --- a/bddl/activity_definitions/clean_a_sauna/problem0.bddl +++ b/bddl/activity_definitions/clean_a_sauna/problem0.bddl @@ -6,7 +6,7 @@ mold.n.05_1 - mold.n.05 mildew.n.02_1 - mildew.n.02 bleaching_agent.n.01_1 - bleaching_agent.n.01 - bleaching_agent__bottle.n.01_1 - bleaching_agent__bottle.n.01 + bleaching_agent__atomizer.n.01_1 - bleaching_agent__atomizer.n.01 liquid_soap.n.01_1 - liquid_soap.n.01 liquid_soap__bottle.n.01_1 - liquid_soap__bottle.n.01 swab.n.02_1 - swab.n.02 @@ -24,8 +24,8 @@ (covered floor.n.01_1 mildew.n.02_1) (covered sauna_heater.n.01_1 stain.n.01_1) (covered bench.n.01_1 mold.n.05_1) - (filled bleaching_agent__bottle.n.01_1 bleaching_agent.n.01_1) - (inside bleaching_agent__bottle.n.01_1 cabinet.n.03_1) + (insource bleaching_agent__atomizer.n.01_1 bleaching_agent.n.01_1) + (inside bleaching_agent__atomizer.n.01_1 cabinet.n.03_1) (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1) (inside liquid_soap__bottle.n.01_1 cabinet.n.03_1) (inside rag.n.01_1 cabinet.n.03_1) diff --git a/bddl/activity_definitions/clean_decking/problem0.bddl b/bddl/activity_definitions/clean_decking/problem0.bddl index 5ddececa..ff5febe8 100644 --- a/bddl/activity_definitions/clean_decking/problem0.bddl +++ b/bddl/activity_definitions/clean_decking/problem0.bddl @@ -11,7 +11,7 @@ liquid_soap.n.01_1 - liquid_soap.n.01 liquid_soap__bottle.n.01_1 - liquid_soap__bottle.n.01 bleaching_agent.n.01_1 - bleaching_agent.n.01 - bleaching_agent__bottle.n.01_1 - bleaching_agent__bottle.n.01 + bleaching_agent__atomizer.n.01_1 - bleaching_agent__atomizer.n.01 ashcan.n.01_1 - ashcan.n.01 water.n.06_1 - water.n.06 scrub_brush.n.01_1 - scrub_brush.n.01 @@ -28,8 +28,8 @@ (ontop watering_can.n.01_1 floor.n.01_1) (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1) (ontop liquid_soap__bottle.n.01_1 floor.n.01_1) - (filled bleaching_agent__bottle.n.01_1 bleaching_agent.n.01_1) - (ontop bleaching_agent__bottle.n.01_1 floor.n.01_1) + (insource bleaching_agent__atomizer.n.01_1 bleaching_agent.n.01_1) + (ontop bleaching_agent__atomizer.n.01_1 floor.n.01_1) (covered board.n.02_1 mud.n.03_1) (insource watering_can.n.01_1 water.n.06_1) (ontop scrub_brush.n.01_1 floor.n.01_1) diff --git a/bddl/activity_definitions/clean_fur/problem0.bddl b/bddl/activity_definitions/clean_fur/problem0.bddl index f45d5864..b47b0072 100644 --- a/bddl/activity_definitions/clean_fur/problem0.bddl +++ b/bddl/activity_definitions/clean_fur/problem0.bddl @@ -10,7 +10,7 @@ toilet_soap.n.01_1 - toilet_soap.n.01 toilet_soap__bottle.n.01_1 - toilet_soap__bottle.n.01 conditioner.n.03_1 - conditioner.n.03 - conditioner__bottle.n.01_1 - conditioner__bottle.n.01 + conditioner__atomizer.n.01_1 - conditioner__atomizer.n.01 floor.n.01_1 - floor.n.01 agent.n.01_1 - agent.n.01 ) @@ -22,8 +22,8 @@ (ontop rag.n.01_2 floor.n.01_1) (filled toilet_soap__bottle.n.01_1 toilet_soap.n.01_1) (ontop toilet_soap__bottle.n.01_1 floor.n.01_1) - (filled conditioner__bottle.n.01_1 conditioner.n.03_1) - (ontop conditioner__bottle.n.01_1 floor.n.01_1) + (insource conditioner__atomizer.n.01_1 conditioner.n.03_1) + (ontop conditioner__atomizer.n.01_1 floor.n.01_1) (insource sink.n.01_1 water.n.06_1) (inroom floor.n.01_1 utility_room) (inroom sink.n.01_1 utility_room) diff --git a/bddl/activity_definitions/clean_leather_sandals/problem0.bddl b/bddl/activity_definitions/clean_leather_sandals/problem0.bddl index 46c29900..00a236a7 100644 --- a/bddl/activity_definitions/clean_leather_sandals/problem0.bddl +++ b/bddl/activity_definitions/clean_leather_sandals/problem0.bddl @@ -8,7 +8,7 @@ hand_towel.n.01_1 - hand_towel.n.01 sandal.n.01_1 sandal.n.01_2 - sandal.n.01 conditioner.n.03_1 - conditioner.n.03 - conditioner__bottle.n.01_1 - conditioner__bottle.n.01 + conditioner__atomizer.n.01_1 - conditioner__atomizer.n.01 stain.n.01_1 - stain.n.01 water.n.06_1 - water.n.06 floor.n.01_1 - floor.n.01 @@ -18,8 +18,8 @@ (:init (filled saddle_soap__bottle.n.01_1 saddle_soap.n.01_1) (ontop saddle_soap__bottle.n.01_1 floor.n.01_1) - (filled conditioner__bottle.n.01_1 conditioner.n.03_1) - (ontop conditioner__bottle.n.01_1 floor.n.01_1) + (insource conditioner__atomizer.n.01_1 conditioner.n.03_1) + (ontop conditioner__atomizer.n.01_1 floor.n.01_1) (ontop hand_towel.n.01_1 floor.n.01_1) (ontop sandal.n.01_1 floor.n.01_1) (ontop sandal.n.01_2 floor.n.01_1) diff --git a/bddl/activity_definitions/clean_marker_off_a_doll/problem0.bddl b/bddl/activity_definitions/clean_marker_off_a_doll/problem0.bddl index 5849bbea..685636f8 100644 --- a/bddl/activity_definitions/clean_marker_off_a_doll/problem0.bddl +++ b/bddl/activity_definitions/clean_marker_off_a_doll/problem0.bddl @@ -9,7 +9,7 @@ sink.n.01_1 - sink.n.01 doll.n.01_1 - doll.n.01 acetone.n.01_1 - acetone.n.01 - acetone__bottle.n.01_1 - acetone__bottle.n.01 + acetone__atomizer.n.01_1 - acetone__atomizer.n.01 stool.n.01_1 - stool.n.01 ink.n.01_1 - ink.n.01 water.n.06_1 - water.n.06 @@ -24,8 +24,8 @@ (ontop sponge.n.01_1 stool.n.01_1) (ontop rag.n.01_1 sink.n.01_1) (ontop doll.n.01_1 stool.n.01_1) - (filled acetone__bottle.n.01_1 acetone.n.01_1) - (ontop acetone__bottle.n.01_1 stool.n.01_1) + (insource acetone__atomizer.n.01_1 acetone.n.01_1) + (ontop acetone__atomizer.n.01_1 stool.n.01_1) (covered doll.n.01_1 ink.n.01_1) (insource sink.n.01_1 water.n.06_1) (inroom sink.n.01_1 utility_room) diff --git a/bddl/activity_definitions/clean_outdoor_tiles/problem0.bddl b/bddl/activity_definitions/clean_outdoor_tiles/problem0.bddl index 8b13e07a..ba046c80 100644 --- a/bddl/activity_definitions/clean_outdoor_tiles/problem0.bddl +++ b/bddl/activity_definitions/clean_outdoor_tiles/problem0.bddl @@ -9,7 +9,7 @@ liquid_soap.n.01_1 - liquid_soap.n.01 liquid_soap__bottle.n.01_1 - liquid_soap__bottle.n.01 bleaching_agent.n.01_1 - bleaching_agent.n.01 - bleaching_agent__bottle.n.01_1 - bleaching_agent__bottle.n.01 + bleaching_agent__atomizer.n.01_1 - bleaching_agent__atomizer.n.01 stain.n.01_1 - stain.n.01 agent.n.01_1 - agent.n.01 ) @@ -23,8 +23,8 @@ (ontop swab.n.02_1 floor.n.01_1) (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1) (ontop liquid_soap__bottle.n.01_1 floor.n.01_1) - (filled bleaching_agent__bottle.n.01_1 bleaching_agent.n.01_1) - (ontop bleaching_agent__bottle.n.01_1 floor.n.01_1) + (insource bleaching_agent__atomizer.n.01_1 bleaching_agent.n.01_1) + (ontop bleaching_agent__atomizer.n.01_1 floor.n.01_1) (covered tile.n.01_1 stain.n.01_1) (covered tile.n.01_2 stain.n.01_1) (covered tile.n.01_3 stain.n.01_1) diff --git a/bddl/activity_definitions/clean_stucco/problem0.bddl b/bddl/activity_definitions/clean_stucco/problem0.bddl index f7721df1..d779f183 100644 --- a/bddl/activity_definitions/clean_stucco/problem0.bddl +++ b/bddl/activity_definitions/clean_stucco/problem0.bddl @@ -8,7 +8,7 @@ bucket.n.01_1 - bucket.n.01 driveway.n.01_1 - driveway.n.01 bleaching_agent.n.01_1 - bleaching_agent.n.01 - bleaching_agent__bottle.n.01_1 - bleaching_agent__bottle.n.01 + bleaching_agent__atomizer.n.01_1 - bleaching_agent__atomizer.n.01 water.n.06_1 - water.n.06 scrub_brush.n.01_1 - scrub_brush.n.01 floor.n.01_1 - floor.n.01 @@ -19,10 +19,10 @@ (covered wall.n.01_1 mold.n.05_1) (covered wall.n.01_1 stucco.n.01_1) (ontop bucket.n.01_1 driveway.n.01_1) - (filled bleaching_agent__bottle.n.01_1 bleaching_agent.n.01_1) + (insource bleaching_agent__atomizer.n.01_1 bleaching_agent.n.01_1) (filled bucket.n.01_1 water.n.06_1) (ontop scrub_brush.n.01_1 driveway.n.01_1) - (ontop bleaching_agent__bottle.n.01_1 driveway.n.01_1) + (ontop bleaching_agent__atomizer.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) diff --git a/bddl/activity_definitions/clean_your_house_after_a_wild_party/problem0.bddl b/bddl/activity_definitions/clean_your_house_after_a_wild_party/problem0.bddl index 1650a130..b6cb3518 100644 --- a/bddl/activity_definitions/clean_your_house_after_a_wild_party/problem0.bddl +++ b/bddl/activity_definitions/clean_your_house_after_a_wild_party/problem0.bddl @@ -18,7 +18,7 @@ liquid_soap.n.01_1 - liquid_soap.n.01 liquid_soap__bottle.n.01_1 - liquid_soap__bottle.n.01 bleaching_agent.n.01_1 - bleaching_agent.n.01 - bleaching_agent__bottle.n.01_1 - bleaching_agent__bottle.n.01 + bleaching_agent__atomizer.n.01_1 - bleaching_agent__atomizer.n.01 water.n.06_1 - water.n.06 adhesive_material.n.01_1 - adhesive_material.n.01 dust.n.01_1 - dust.n.01 @@ -45,11 +45,11 @@ (ontop vacuum.n.04_1 floor.n.01_3) (inside swab.n.02_1 cabinet.n.01_1) (inside liquid_soap__bottle.n.01_1 cabinet.n.01_1) - (inside bleaching_agent__bottle.n.01_1 cabinet.n.01_1) + (inside bleaching_agent__atomizer.n.01_1 cabinet.n.01_1) (ontop hand_towel.n.01_1 floor.n.01_1) (ontop hand_towel.n.01_2 countertop.n.01_1) (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1) - (filled bleaching_agent__bottle.n.01_1 bleaching_agent.n.01_1) + (insource bleaching_agent__atomizer.n.01_1 bleaching_agent.n.01_1) (covered floor.n.01_1 water.n.06_1) (covered floor.n.01_2 adhesive_material.n.01_1) (covered floor.n.01_3 dust.n.01_1) diff --git a/bddl/activity_definitions/clean_your_laundry_room/problem0.bddl b/bddl/activity_definitions/clean_your_laundry_room/problem0.bddl index 8a318680..049a7fac 100644 --- a/bddl/activity_definitions/clean_your_laundry_room/problem0.bddl +++ b/bddl/activity_definitions/clean_your_laundry_room/problem0.bddl @@ -6,7 +6,7 @@ clothes_dryer.n.01_1 - clothes_dryer.n.01 water.n.06_1 - water.n.06 bleaching_agent.n.01_1 - bleaching_agent.n.01 - bleaching_agent__bottle.n.01_1 - bleaching_agent__bottle.n.01 + bleaching_agent__atomizer.n.01_1 - bleaching_agent__atomizer.n.01 washer.n.03_1 - washer.n.03 dust.n.01_1 - dust.n.01 mold.n.05_1 - mold.n.05 @@ -19,8 +19,8 @@ (ontop rag.n.01_1 clothes_dryer.n.01_1) (covered clothes_dryer.n.01_1 dust.n.01_1) (covered washer.n.03_1 mold.n.05_1) - (filled bleaching_agent__bottle.n.01_1 bleaching_agent.n.01_1) - (ontop bleaching_agent__bottle.n.01_1 washer.n.03_1) + (insource bleaching_agent__atomizer.n.01_1 bleaching_agent.n.01_1) + (ontop bleaching_agent__atomizer.n.01_1 washer.n.03_1) (ontop agent.n.01_1 floor.n.01_1) (insource sink.n.01_1 water.n.06_1) (inroom sink.n.01_1 utility_room) diff --git a/bddl/activity_definitions/cleaning_up_after_an_event/problem0.bddl b/bddl/activity_definitions/cleaning_up_after_an_event/problem0.bddl index 1da3e333..98a89dcf 100644 --- a/bddl/activity_definitions/cleaning_up_after_an_event/problem0.bddl +++ b/bddl/activity_definitions/cleaning_up_after_an_event/problem0.bddl @@ -7,7 +7,7 @@ floor.n.01_1 - floor.n.01 electric_refrigerator.n.01_1 - electric_refrigerator.n.01 dishwasher.n.01_1 - dishwasher.n.01 - leftovers.n.01_1 - leftovers.n.01 + hotdog.n.02_1 - hotdog.n.02 sink.n.01_1 - sink.n.01 bottle__of__apple_juice.n.01_1 - bottle__of__apple_juice.n.01 broom.n.01_1 - broom.n.01 @@ -24,7 +24,7 @@ (ontop cup.n.01_2 floor.n.01_1) (ontop cup.n.01_3 electric_refrigerator.n.01_1) (ontop cup.n.01_4 dishwasher.n.01_1) - (inside leftovers.n.01_1 sink.n.01_1) + (inside hotdog.n.02_1 sink.n.01_1) (inside bottle__of__apple_juice.n.01_1 sink.n.01_1) (ontop broom.n.01_1 floor.n.01_1) (inside sponge.n.01_1 sink.n.01_1) @@ -49,7 +49,7 @@ (?cup.n.01 - cup.n.01) (inside ?cup.n.01 ?dishwasher.n.01_1) ) - (inside ?leftovers.n.01_1 ?electric_refrigerator.n.01_1) + (inside ?hotdog.n.02_1 ?electric_refrigerator.n.01_1) (inside ?bottle__of__apple_juice.n.01_1 ?electric_refrigerator.n.01_1) (nextto ?broom.n.01_1 ?dishwasher.n.01_1) (covered ?sponge.n.01_1 ?water.n.06_1) diff --git a/bddl/activity_definitions/clearing_table_after_supper/problem0.bddl b/bddl/activity_definitions/clearing_table_after_supper/problem0.bddl index b80063ba..0d61e326 100644 --- a/bddl/activity_definitions/clearing_table_after_supper/problem0.bddl +++ b/bddl/activity_definitions/clearing_table_after_supper/problem0.bddl @@ -2,7 +2,7 @@ (:domain omnigibson) (:objects - leftovers.n.01_1 leftovers.n.01_2 leftovers.n.01_3 - leftovers.n.01 + meatball.n.01_1 meatball.n.01_2 meatball.n.01_3 - meatball.n.01 plate.n.04_1 plate.n.04_2 plate.n.04_3 - plate.n.04 tupperware.n.01_1 tupperware.n.01_2 - tupperware.n.01 crumb.n.03_1 - crumb.n.03 @@ -16,9 +16,12 @@ ) (:init - (ontop leftovers.n.01_1 plate.n.04_1) - (ontop leftovers.n.01_2 plate.n.04_2) - (ontop leftovers.n.01_3 plate.n.04_3) + (cooked meatball.n.01_1) + (cooked meatball.n.01_2) + (cooked meatball.n.01_3) + (ontop meatball.n.01_1 plate.n.04_1) + (ontop meatball.n.01_2 plate.n.04_2) + (ontop meatball.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) @@ -41,10 +44,10 @@ (:goal (and (forall - (?leftovers.n.01 - leftovers.n.01) + (?meatball.n.01 - meatball.n.01) (exists (?tupperware.n.01 - tupperware.n.01) - (inside ?leftovers.n.01 ?tupperware.n.01) + (inside ?meatball.n.01 ?tupperware.n.01) ) ) (forall diff --git a/bddl/activity_definitions/spring_clean_your_skateboard/problem0.bddl b/bddl/activity_definitions/spring_clean_your_skateboard/problem0.bddl index 80166fe9..158e19fb 100644 --- a/bddl/activity_definitions/spring_clean_your_skateboard/problem0.bddl +++ b/bddl/activity_definitions/spring_clean_your_skateboard/problem0.bddl @@ -3,7 +3,7 @@ (:objects acetone.n.01_1 - acetone.n.01 - acetone__bottle.n.01_1 - acetone__bottle.n.01 + acetone__atomizer.n.01_1 - acetone__atomizer.n.01 bucket.n.01_1 - bucket.n.01 water.n.06_1 - water.n.06 stain.n.01_1 - stain.n.01 @@ -14,8 +14,8 @@ ) (:init - (filled acetone__bottle.n.01_1 acetone.n.01_1) - (ontop acetone__bottle.n.01_1 floor.n.01_1) + (insource acetone__atomizer.n.01_1 acetone.n.01_1) + (ontop acetone__atomizer.n.01_1 floor.n.01_1) (filled bucket.n.01_1 water.n.06_1) (ontop bucket.n.01_1 floor.n.01_1) (ontop skateboard.n.01_1 floor.n.01_1)