simplify tasks

StanfordVL · Mar 17, 2024 · 32d3ae0 · 32d3ae0
1 parent da18d8e
commit 32d3ae0
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Showing 13 changed files with 113 additions and 194 deletions.
diff --git a/bddl/activity_definitions/doing_laundry/problem0.bddl b/bddl/activity_definitions/doing_laundry/problem0.bddl
@@ -6,9 +6,9 @@
         floor.n.01_1 - floor.n.01
         detergent.n.02_1 - detergent.n.02
         hamper.n.02_1 - hamper.n.02
-        lingerie.n.01_1 lingerie.n.01_2 - lingerie.n.01
+        lingerie.n.01_1 - lingerie.n.01
         stain.n.01_1 - stain.n.01
-        blouse.n.01_1 blouse.n.01_2 - blouse.n.01
+        blouse.n.01_1 - blouse.n.01
         washer.n.03_1 - washer.n.03
         clothes_dryer.n.01_1 - clothes_dryer.n.01
         water.n.06_1 - water.n.06
@@ -17,18 +17,14 @@
     )
 
     (:init 
-        (ontop detergent__bottle.n.01_1 floor.n.01_1) 
+        (ontop detergent__bottle.n.01_1 floor.n.01_1)
         (filled detergent__bottle.n.01_1 detergent.n.02_1) 
         (ontop hamper.n.02_1 floor.n.01_1) 
         (inside lingerie.n.01_1 hamper.n.02_1) 
-        (inside lingerie.n.01_2 hamper.n.02_1) 
-        (covered lingerie.n.01_1 stain.n.01_1) 
-        (covered lingerie.n.01_2 stain.n.01_1) 
-        (inside blouse.n.01_1 hamper.n.02_1) 
-        (inside blouse.n.01_2 hamper.n.02_1) 
-        (covered blouse.n.01_1 stain.n.01_1) 
-        (covered blouse.n.01_2 stain.n.01_1) 
-        (ontop hanger.n.02_1 floor.n.01_1) 
+        (covered lingerie.n.01_1 stain.n.01_1)
+        (ontop blouse.n.01_1 floor.n.01_1)
+        (covered blouse.n.01_1 stain.n.01_1)
+        (ontop hanger.n.02_1 floor.n.01_1)
         (ontop hanger.n.02_2 floor.n.01_1)
         (inroom washer.n.03_1 utility_room)
         (inroom clothes_dryer.n.01_1 utility_room)

diff --git a/bddl/activity_definitions/donating_clothing/problem0.bddl b/bddl/activity_definitions/donating_clothing/problem0.bddl
@@ -3,9 +3,9 @@
 
     (:objects
         sweater.n.01_1 - sweater.n.01
-        wardrobe.n.01_1 - wardrobe.n.01
+        bed.n.01_1 - bed.n.01
         boot.n.01_1 boot.n.01_2 - boot.n.01
-        floor.n.01_1 - floor.n.01
+        floor.n.01_1 floor.n.01_2 - floor.n.01
         sandal.n.01_1 sandal.n.01_2 - sandal.n.01
         dress.n.01_1 - dress.n.01
         jersey.n.03_1 - jersey.n.03
@@ -14,17 +14,18 @@
     )
 
     (:init 
-        (inroom wardrobe.n.01_1 closet)
-        (inside sweater.n.01_1 wardrobe.n.01_1) 
+        (inroom bed.n.01_1 bedroom)
+        (ontop sweater.n.01_1 bed.n.01_1)
         (ontop boot.n.01_1 floor.n.01_1) 
         (ontop boot.n.01_2 floor.n.01_1) 
         (ontop sandal.n.01_1 floor.n.01_1) 
         (ontop sandal.n.01_2 floor.n.01_1) 
-        (inside dress.n.01_1 wardrobe.n.01_1) 
-        (inside jersey.n.03_1 wardrobe.n.01_1) 
+        (inside dress.n.01_1 bed.n.01_1)
+        (inside jersey.n.03_1 bed.n.01_1)
         (ontop carton.n.02_1 floor.n.01_1) 
         (inroom floor.n.01_1 closet) 
-        (ontop agent.n.01_1 floor.n.01_1)
+        (ontop agent.n.01_1 floor.n.01_2)
+        (inroom floor.n.01_2 bedroom)
     )
 
     (:goal 

diff --git a/bddl/activity_definitions/ironing_clothes/problem0.bddl b/bddl/activity_definitions/ironing_clothes/problem0.bddl
@@ -7,24 +7,24 @@
         dress.n.01_1 - dress.n.01
         jersey.n.03_1 - jersey.n.03
         ironing_board.n.01_1 - ironing_board.n.01
-        hamper.n.02_1 - hamper.n.02
         floor.n.01_1 - floor.n.01
         iron.n.04_1 - iron.n.04
+        bed.n.01_1 - bed.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
         (covered blouse.n.01_1 wrinkle.n.01_1)
         (covered dress.n.01_1 wrinkle.n.01_1)
-        (covered jersey.n.03_1 wrinkle.n.01_1) 
-        (ontop hamper.n.02_1 floor.n.01_1)
-        (inside blouse.n.01_1 hamper.n.02_1)
-        (inside dress.n.01_1 hamper.n.02_1)
-        (inside jersey.n.03_1 hamper.n.02_1)
+        (covered jersey.n.03_1 wrinkle.n.01_1)
+        (ontop blouse.n.01_1 bed.n.01_1)
+        (ontop dress.n.01_1 bed.n.01_1)
+        (ontop jersey.n.03_1 bed.n.01_1)
         (ontop ironing_board.n.01_1 floor.n.01_1) 
         (ontop iron.n.04_1 ironing_board.n.01_1) 
         (ontop agent.n.01_1 floor.n.01_1) 
         (inroom floor.n.01_1 bedroom)
+        (inroom bed.n.01_1 bedroom)
     )
 
     (:goal 

diff --git a/bddl/activity_definitions/laying_clothes_out/problem0.bddl b/bddl/activity_definitions/laying_clothes_out/problem0.bddl
@@ -4,8 +4,7 @@
     (:objects
         jacket.n.01_1 - jacket.n.01
         wardrobe.n.01_1 - wardrobe.n.01
-        dress.n.01_1 - dress.n.01
-        sandal.n.01_1 sandal.n.01_2 - sandal.n.01
+        sandal.n.01_1 - sandal.n.01
         cedar_chest.n.01_1 - cedar_chest.n.01
         bed.n.01_1 - bed.n.01
         floor.n.01_1 floor.n.01_2 - floor.n.01
@@ -14,12 +13,10 @@
 
     (:init 
         (inside jacket.n.01_1 wardrobe.n.01_1) 
-        (inside dress.n.01_1 wardrobe.n.01_1) 
-        (inside sandal.n.01_1 cedar_chest.n.01_1) 
-        (inside sandal.n.01_2 cedar_chest.n.01_1) 
-        (inroom wardrobe.n.01_1 closet) 
+        (inside sandal.n.01_1 cedar_chest.n.01_1)
+        (inroom wardrobe.n.01_1 closet)
         (inroom floor.n.01_1 closet) 
-        (inside cedar_chest.n.01_1 wardrobe.n.01_1)
+        (ontop cedar_chest.n.01_1 floor.n.01_1)
         (inroom bed.n.01_1 bedroom)
         (inroom floor.n.01_2 bedroom)
         (ontop agent.n.01_1 floor.n.01_1)
@@ -28,9 +25,7 @@
     (:goal 
         (and 
             (ontop ?jacket.n.01_1 ?bed.n.01_1) 
-            (ontop ?dress.n.01_1 ?bed.n.01_1) 
-            (ontop ?sandal.n.01_1 ?floor.n.01_2) 
-            (ontop ?sandal.n.01_2 ?floor.n.01_2)
+            (ontop ?sandal.n.01_1 ?floor.n.01_2)
         )
     )
 )
diff --git a/bddl/activity_definitions/make_ice/problem0.bddl b/bddl/activity_definitions/make_ice/problem0.bddl
@@ -16,15 +16,15 @@
         (ontop icetray.n.02_1 countertop.n.01_1)
         (inroom deep-freeze.n.02_1 kitchen)
         (insource sink.n.01_1 water.n.06_1) 
-        (inroom sink.n.01_1 kitchen) 
+        (inroom sink.n.01_1 kitchen)
         (future ice_cube.n.01_1) 
         (future ice_cube.n.01_2) 
         (future ice_cube.n.01_3) 
         (future ice_cube.n.01_4) 
         (future ice_cube.n.01_5) 
         (future ice_cube.n.01_6) 
-        (inroom floor.n.01_1 kitchen) 
-        (inroom countertop.n.01_1 kitchen) 
+        (inroom floor.n.01_1 kitchen)
+        (inroom countertop.n.01_1 kitchen)
         (ontop agent.n.01_1 floor.n.01_1)
     )
 

diff --git a/bddl/activity_definitions/packing_fishing_gear_into_car/problem0.bddl b/bddl/activity_definitions/packing_fishing_gear_into_car/problem0.bddl
@@ -5,23 +5,21 @@
         car.n.01_1 - car.n.01
         driveway.n.01_1 - driveway.n.01
         fishing_rod.n.01_1 - fishing_rod.n.01
-        bait.n.01_1 bait.n.01_2 bait.n.01_3 - bait.n.01
+        bait.n.01_1 - bait.n.01
         fishing_gear.n.01_1 - fishing_gear.n.01
-        tupperware.n.01_1 - tupperware.n.01
-        boat.n.01_1 - boat.n.01
+        bowl.n.01_1 - bowl.n.01
+        skiff.n.01_1 - skiff.n.01
         floor.n.01_1 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
         (ontop car.n.01_1 driveway.n.01_1) 
-        (inside fishing_rod.n.01_1 boat.n.01_1)
-        (ontop boat.n.01_1 driveway.n.01_1)
-        (inside bait.n.01_1 tupperware.n.01_1)
-        (inside bait.n.01_2 tupperware.n.01_1)
-        (inside bait.n.01_3 tupperware.n.01_1)
-        (inside tupperware.n.01_1 boat.n.01_1)
-        (inside fishing_gear.n.01_1 boat.n.01_1)
+        (inside fishing_rod.n.01_1 skiff.n.01_1)
+        (ontop skiff.n.01_1 driveway.n.01_1)
+        (inside bait.n.01_1 bowl.n.01_1)
+        (inside bowl.n.01_1 skiff.n.01_1)
+        (inside fishing_gear.n.01_1 skiff.n.01_1)
         (inroom floor.n.01_1 garden) 
         (inroom driveway.n.01_1 garden) 
         (ontop agent.n.01_1 floor.n.01_1)
@@ -31,11 +29,8 @@
         (and 
             (and 
                 (inside ?fishing_rod.n.01_1 ?car.n.01_1)
-                (forall 
-                    (?bait.n.01 - bait.n.01)
-                    (inside ?bait.n.01 ?tupperware.n.01_1)
-                )
-                (inside ?tupperware.n.01_1 ?car.n.01_1)
+                (inside ?bait.n.01_1 ?bowl.n.01_1)
+                (inside ?bowl.n.01_1 ?car.n.01_1)
                 (inside ?fishing_gear.n.01_1 ?car.n.01_1)
             )
         )

diff --git a/bddl/activity_definitions/prepare_a_breakfast_bar/problem0.bddl b/bddl/activity_definitions/prepare_a_breakfast_bar/problem0.bddl
@@ -2,7 +2,7 @@
     (:domain omnigibson)
 
     (:objects
-        tray.n.01_1 tray.n.01_2 tray.n.01_3 - tray.n.01
+        tray.n.01_1 tray.n.01_2 tray.n.01_3 tray.n.01_4 - tray.n.01
         breakfast_table.n.01_1 - breakfast_table.n.01
         carton__of__orange_juice.n.01_1 - carton__of__orange_juice.n.01
         platter.n.01_1 platter.n.01_2 platter.n.01_3 - platter.n.01
@@ -25,8 +25,9 @@
         (inside platter.n.01_1 cabinet.n.01_1)
         (inside platter.n.01_2 cabinet.n.01_1)
         (inside platter.n.01_3 cabinet.n.01_1)
-        (ontop buttermilk_pancake.n.01_1 tray.n.01_2)
-        (ontop buttermilk_pancake.n.01_2 tray.n.01_2)
+        (ontop buttermilk_pancake.n.01_1 tray.n.01_4)
+        (ontop buttermilk_pancake.n.01_2 tray.n.01_4)
+        (ontop tray.n.01_4 breakfast_table.n.01_1)
         (ontop waffle.n.01_1 tray.n.01_2)
         (ontop waffle.n.01_2 tray.n.01_2)
         (inside tray.n.01_2 electric_refrigerator.n.01_1)

diff --git a/bddl/activity_definitions/prepare_wine_and_cheese/problem0.bddl b/bddl/activity_definitions/prepare_wine_and_cheese/problem0.bddl
@@ -7,15 +7,15 @@
         diced__cheddar.n.01_1 - diced__cheddar.n.01
         feta.n.01_1 - feta.n.01
         diced__feta.n.01_1 - diced__feta.n.01
-        plate.n.04_1 plate.n.04_2 plate.n.04_3 - plate.n.04
+        plate.n.04_1 plate.n.04_2 plate.n.04_3 plate.n.04_4 plate.n.04_5 - plate.n.04
         white_wine.n.01_1 - white_wine.n.01
         champagne.n.01_1 - champagne.n.01
         carafe.n.01_1 - carafe.n.01
-        pretzel.n.01_1 pretzel.n.01_2 pretzel.n.01_3 pretzel.n.01_4 pretzel.n.01_5 pretzel.n.01_6 pretzel.n.01_7 pretzel.n.01_8 - pretzel.n.01
-        tupperware.n.01_1 tupperware.n.01_2 - tupperware.n.01
+        pretzel.n.01_1 pretzel.n.01_2 - pretzel.n.01
+        bowl.n.01_1 - bowl.n.01
         almond.n.02_1 - almond.n.02
         floor.n.01_1 - floor.n.01
-        wineglass.n.01_1 wineglass.n.01_2 wineglass.n.01_3 wineglass.n.01_4 wineglass.n.01_5 wineglass.n.01_6 - wineglass.n.01
+        wineglass.n.01_1 wineglass.n.01_2 - wineglass.n.01
         chopping_board.n.01_1 - chopping_board.n.01
         carving_knife.n.01_1 - carving_knife.n.01
         breakfast_table.n.01_1 - breakfast_table.n.01
@@ -24,33 +24,24 @@
         countertop.n.01_1 - countertop.n.01
         agent.n.01_1 - agent.n.01
     )
-    
-    (:init 
+
+    (:init
         (ontop cheddar.n.02_1 plate.n.04_1)
         (ontop feta.n.01_1 plate.n.04_1)
         (filled wine_bottle.n.01_1 white_wine.n.01_1)
-        (filled wine_bottle.n.01_2 champagne.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)
-        (inside pretzel.n.01_1 tupperware.n.01_1) 
-        (inside pretzel.n.01_2 tupperware.n.01_1) 
-        (inside pretzel.n.01_3 tupperware.n.01_1) 
-        (inside pretzel.n.01_4 tupperware.n.01_1) 
-        (inside pretzel.n.01_5 tupperware.n.01_1) 
-        (inside pretzel.n.01_6 tupperware.n.01_1) 
-        (inside pretzel.n.01_7 tupperware.n.01_1) 
-        (inside pretzel.n.01_8 tupperware.n.01_1) 
-        (filled tupperware.n.01_2 almond.n.02_1) 
-        (inside tupperware.n.01_1 cabinet.n.01_2)
-        (inside tupperware.n.01_2 cabinet.n.01_2)
-        (inside carafe.n.01_1 cabinet.n.01_1) 
-        (inside wineglass.n.01_4 cabinet.n.01_1)
-        (inside wineglass.n.01_5 cabinet.n.01_1)
-        (inside wineglass.n.01_6 cabinet.n.01_1)
-        (inside wineglass.n.01_1 cabinet.n.01_1) 
-        (inside wineglass.n.01_2 cabinet.n.01_1) 
-        (inside wineglass.n.01_3 cabinet.n.01_1) 
-        (inside plate.n.04_1 cabinet.n.01_1) 
+        (ontop pretzel.n.01_1 plate.n.04_4)
+        (ontop pretzel.n.01_2 plate.n.04_5)
+        (filled bowl.n.01_1 almond.n.02_1)
+        (ontop bowl.n.01_1 countertop.n.01_1)
+        (ontop plate.n.04_4 countertop.n.01_1)
+        (ontop plate.n.04_5 countertop.n.01_1)
+        (inside carafe.n.01_1 cabinet.n.01_1)
+        (inside wineglass.n.01_1 cabinet.n.01_2)
+        (inside wineglass.n.01_2 cabinet.n.01_2)
+        (inside plate.n.04_1 cabinet.n.01_1)
         (inside plate.n.04_2 cabinet.n.01_1) 
         (inside plate.n.04_3 cabinet.n.01_1) 
         (ontop chopping_board.n.01_1 countertop.n.01_1)

diff --git a/bddl/activity_definitions/preparing_clothes_for_the_next_day/problem0.bddl b/bddl/activity_definitions/preparing_clothes_for_the_next_day/problem0.bddl
@@ -2,30 +2,26 @@
     (:domain omnigibson)
 
     (:objects
-        jersey.n.03_1 - jersey.n.03
-        coat.n.01_1 coat.n.01_2 - coat.n.01
+        coat.n.01_1 - coat.n.01
         wardrobe.n.01_1 - wardrobe.n.01
         boot.n.01_1 boot.n.01_2 - boot.n.01
         trouser.n.01_1 - trouser.n.01
-        cedar_chest.n.01_1 cedar_chest.n.01_2 - cedar_chest.n.01
+        cedar_chest.n.01_1 - cedar_chest.n.01
         bed.n.01_1 - bed.n.01
         wallet.n.01_1 - wallet.n.01
         floor.n.01_1 floor.n.01_2 - floor.n.01
         agent.n.01_1 - agent.n.01
     )
 
     (:init 
-        (inside jersey.n.03_1 wardrobe.n.01_1) 
         (inside coat.n.01_1 wardrobe.n.01_1)
-        (inside coat.n.01_2 wardrobe.n.01_1)
-        (inside boot.n.01_1 cedar_chest.n.01_1) 
-        (inside boot.n.01_2 cedar_chest.n.01_1) 
-        (inside trouser.n.01_1 cedar_chest.n.01_2)
-        (inside wallet.n.01_1 cedar_chest.n.01_1) 
+        (ontop boot.n.01_1 floor.n.01_1)
+        (ontop boot.n.01_2 floor.n.01_1)
+        (inside trouser.n.01_1 wardrobe.n.01_1)
+        (inside wallet.n.01_1 cedar_chest.n.01_1)
         (inroom wardrobe.n.01_1 closet)
         (ontop cedar_chest.n.01_1 floor.n.01_1) 
-        (ontop cedar_chest.n.01_2 floor.n.01_1) 
-        (inroom floor.n.01_1 closet) 
+        (inroom floor.n.01_1 closet)
         (inroom floor.n.01_2 childs_room) 
         (inroom bed.n.01_1 childs_room)
         (ontop agent.n.01_1 floor.n.01_1)
@@ -34,12 +30,11 @@
     (:goal 
         (and 
             (ontop ?coat.n.01_1 ?bed.n.01_1)
-            (ontop ?jersey.n.03_1 ?bed.n.01_1) 
-            (forall 
+            (ontop ?trouser.n.01_1 ?bed.n.01_1)
+            (forall
                 (?boot.n.01 - boot.n.01)
                 (ontop ?boot.n.01 ?floor.n.01_2)
             )
-            (ontop ?trouser.n.01_1 ?bed.n.01_1)
             (ontop ?wallet.n.01_1 ?bed.n.01_1)
         )
     )