Add ClearTable task

.gitignore

@@ -134,7 +134,6 @@ docker/ai2thor_simulator_resources/
 old/
 rl_thor_1
 runs*/
-rl_thor
 weird_runs/
 examples/benchmark/script/
 

src/rl_thor/envs/tasks/_item_prop_complex.py

@@ -11,8 +11,6 @@
 
 from __future__ import annotations
 
-from typing import Any
-
 from rl_thor.envs.sim_objects import (
     COOKING_SOURCES,
     HEAT_SOURCES,
@@ -32,20 +30,21 @@
 )
 from rl_thor.envs.tasks._item_prop_variable import IndirectIsToggledProp, IsPickedUpProp, IsToggledProp
 from rl_thor.envs.tasks.item_prop_interface import (
+    AI2ThorBasedProp,
     FillableLiquid,
     ItemVariableProp,
     MultiValuePSF,
     SingleValuePSF,
     TemperatureValue,
 )
 from rl_thor.envs.tasks.items import AuxItem
-from rl_thor.envs.tasks.relations import ContainedInRelation, ReceptacleOfRelation
+from rl_thor.envs.tasks.relations import ReceptacleOfRelation, Relation
 
 
 # %% === Property Definitions ===
 # TODO: Support filling with other liquids and contextual interactions
 # TODO: Add sink as an auxiliary item and a contained_in relation -> doesn't work, we need "fill_liquid" action
-class IsFilledWithLiquidProp(ItemVariableProp[bool, bool]):
+class IsFilledWithLiquidProp(AI2ThorBasedProp[bool, bool], ItemVariableProp[bool]):
     """Is filled with liquid item property."""
 
     target_ai2thor_property = SimObjVariableProp.IS_FILLED_WITH_LIQUID
@@ -63,15 +62,15 @@ class IsFilledWithLiquidProp(ItemVariableProp[bool, bool]):
 
 # TODO: Support filling with other liquids and contextual interactions
 # TODO: Add IsFilledWithLiquidProp as auxiliary property
-class FillLiquidProp(ItemVariableProp[FillableLiquid, bool]):
+class FillLiquidProp(AI2ThorBasedProp[FillableLiquid, bool], ItemVariableProp[bool]):
     """Fill liquid item property."""
 
     target_ai2thor_property = SimObjVariableProp.FILL_LIQUID
     candidate_required_prop = CanFillWithLiquidProp(True)
 
 
 # TODO: Add sink as an auxiliary item and a contained_in relation -> Check if that works
-class IsDirtyProp(ItemVariableProp[bool, bool]):
+class IsDirtyProp(AI2ThorBasedProp[bool, bool], ItemVariableProp[bool]):
     """Is dirty item property."""
 
     target_ai2thor_property = SimObjVariableProp.IS_DIRTY
@@ -91,7 +90,7 @@ class IsDirtyProp(ItemVariableProp[bool, bool]):
 # TODO: Implement better handling for StoveBurner not being directly toggleable.
 # TODO: Implement contextual cooking interactions (e.g. toaster...)
 # TODO: Implement cooking with Microwave that requires to be open to put the object inside first.
-class IsCookedProp(ItemVariableProp[bool, bool]):
+class IsCookedProp(AI2ThorBasedProp[bool, bool], ItemVariableProp[bool]):
     """
     Property for cooked items.
 
@@ -116,7 +115,7 @@ class IsCookedProp(ItemVariableProp[bool, bool]):
 # TODO: Implement contextual temperature interactions (e.g. coffee machine and mugs...)
 # TODO: Add the fact that the Microwave has to be open to put the object inside first then closed then turned on.
 # TODO: Add the fact that the Fridge has to be open to put the object inside first then closed.
-class TemperatureProp(ItemVariableProp[TemperatureValue, Any]):
+class TemperatureProp(AI2ThorBasedProp[TemperatureValue, None], ItemVariableProp[None]):
     """
     Property for items with a certain temperature.
 
@@ -127,7 +126,12 @@ class TemperatureProp(ItemVariableProp[TemperatureValue, Any]):
 
     target_ai2thor_property = SimObjVariableProp.TEMPERATURE
 
-    def __init__(self, target_satisfaction_function: SingleValuePSF[TemperatureValue] | TemperatureValue) -> None:
+    def __init__(
+        self,
+        target_satisfaction_function: SingleValuePSF[TemperatureValue] | TemperatureValue,
+        main_prop: ItemVariableProp | None = None,
+        main_relation: Relation | None = None,
+    ) -> None:
         """Initialize the Property object."""
         if isinstance(target_satisfaction_function, TemperatureValue):
             target_satisfaction_function = SingleValuePSF(target_satisfaction_function)
@@ -154,11 +158,11 @@ def __init__(self, target_satisfaction_function: SingleValuePSF[TemperatureValue
                 )
             })
 
-        super().__init__(target_satisfaction_function)
+        super().__init__(target_satisfaction_function, main_prop=main_prop, main_relation=main_relation)
         self.target_satisfaction_function: SingleValuePSF[TemperatureValue]
 
 
-class BaseIsSlicedProp(ItemVariableProp[bool, bool]):
+class BaseIsSlicedProp(AI2ThorBasedProp[bool, bool], ItemVariableProp):
     """Is sliced item property."""
 
     target_ai2thor_property = SimObjVariableProp.IS_SLICED

src/rl_thor/envs/tasks/_item_prop_variable.py

@@ -6,10 +6,9 @@
 
 from __future__ import annotations
 
-from typing import Any
+from typing import TYPE_CHECKING
 
 from rl_thor.envs.sim_objects import (
-    SimObjMetadata,
     SimObjVariableProp,
 )
 from rl_thor.envs.tasks._item_prop_fixed import (
@@ -21,43 +20,46 @@
     ToggleableProp,
 )
 from rl_thor.envs.tasks.item_prop_interface import (
+    AI2ThorBasedProp,
     EmptyContainerPSF,
     ItemVariableProp,
-    PropAuxProp,
     SizeLimitPSF,
 )
 
+if TYPE_CHECKING:
+    from rl_thor.envs.tasks.relations import Relation
+
 # %% === Constants ===
 RECEPTACLE_MAX_OBJECTS_PROP_LIMIT = 15  # Up to 15 objects on dining tables; see read_scene_objects_metadata.ipynb
 
 
 # %% === Property Definitions ===
-class VisibleProp(ItemVariableProp[bool, Any]):
+class VisibleProp(AI2ThorBasedProp, ItemVariableProp[None]):
     """Visible item property."""
 
     target_ai2thor_property = SimObjVariableProp.VISIBLE
 
 
-class IsInteractableProp(ItemVariableProp[bool, Any]):
+class IsInteractableProp(AI2ThorBasedProp, ItemVariableProp[None]):
     """Is interactable item property."""
 
     target_ai2thor_property = SimObjVariableProp.IS_INTERACTABLE
 
 
-class IsPickedUpProp(ItemVariableProp[bool, bool]):
+class IsPickedUpProp(AI2ThorBasedProp, ItemVariableProp[bool]):
     """Is picked up item property."""
 
     target_ai2thor_property = SimObjVariableProp.IS_PICKED_UP
     candidate_required_prop = PickupableProp(True)
 
 
-class IsPickedUpIfPossibleProp(ItemVariableProp[bool, bool]):
+class IsPickedUpIfPossibleProp(AI2ThorBasedProp, ItemVariableProp[bool]):
     """Same as IsPickedUpProp, but doesn't require the item to be pickupable."""
 
     target_ai2thor_property = SimObjVariableProp.IS_PICKED_UP
 
 
-class IsToggledProp(ItemVariableProp[bool, bool]):
+class IsToggledProp(AI2ThorBasedProp, ItemVariableProp[bool]):
     """Is toggled item property."""
 
     target_ai2thor_property = SimObjVariableProp.IS_TOGGLED
@@ -74,22 +76,22 @@ class IndirectIsToggledProp(IsToggledProp):
     candidate_required_prop = None
 
 
-class IsUsedUpProp(ItemVariableProp[bool, bool]):
+class IsUsedUpProp(AI2ThorBasedProp, ItemVariableProp[bool]):
     """Is used up item property."""
 
     target_ai2thor_property = SimObjVariableProp.IS_USED_UP
     candidate_required_prop = CanBeUsedUpProp(True)
 
 
-class IsOpenProp(ItemVariableProp[bool, bool]):
+class IsOpenProp(AI2ThorBasedProp, ItemVariableProp[bool]):
     """Is open item property."""
 
     target_ai2thor_property = SimObjVariableProp.IS_OPEN
     candidate_required_prop = OpenableProp(True)
 
 
 # TODO: Test this property
-class IsOpenIfPossibleProp(ItemVariableProp[bool, bool]):
+class IsOpenIfPossibleProp(AI2ThorBasedProp, ItemVariableProp[bool]):
     """
     Same as IsOpenProp, but doesn't require the item to be openable.
 
@@ -100,22 +102,22 @@ class IsOpenIfPossibleProp(ItemVariableProp[bool, bool]):
     target_ai2thor_property = SimObjVariableProp.IS_OPEN
 
 
-class OpennessProp(ItemVariableProp[float, bool]):
+class OpennessProp(AI2ThorBasedProp, ItemVariableProp[bool]):
     """Openness item property."""
 
     target_ai2thor_property = SimObjVariableProp.OPENNESS
     candidate_required_prop = OpenableProp(True)
 
 
-class IsBrokenProp(ItemVariableProp[bool, bool]):
+class IsBrokenProp(AI2ThorBasedProp, ItemVariableProp[bool]):
     """Is broken item property."""
 
     target_ai2thor_property = SimObjVariableProp.IS_BROKEN
     candidate_required_prop = BreakableProp(True)
-    auxiliary_properties = frozenset({PropAuxProp(IsPickedUpIfPossibleProp, True)})
+    auxiliary_properties_blueprint = frozenset({(IsPickedUpIfPossibleProp, True)})
 
 
-class ReceptacleClearedProp(ItemVariableProp[bool, bool]):
+class ReceptacleClearedProp(AI2ThorBasedProp, ItemVariableProp[bool]):
     """Property of a receptacle being empty."""
 
     target_ai2thor_property = SimObjVariableProp.RECEPTACLE_OBJ_IDS
@@ -124,44 +126,58 @@ class ReceptacleClearedProp(ItemVariableProp[bool, bool]):
     def __init__(
         self,
         expect_clear: bool = True,
+        main_prop: ItemVariableProp | None = None,
+        main_relation: Relation | None = None,
     ) -> None:
         """
         Initialize the Property object.
 
         Args:
             expect_clear (bool, optional): Whether the receptacle should be cleared or not.
                 Defaults to False.
+            main_prop (ItemVariableProp): For auxiliary properties.
+            main_relation (Relation): For auxiliary properties.
         """
-        auxiliary_properties: list[PropAuxProp] = [PropAuxProp(IsOpenIfPossibleProp, True)]
-        auxiliary_properties += [
-            PropAuxProp(ReceptacleMaxObjectsProp, i) for i in range(1, RECEPTACLE_MAX_OBJECTS_PROP_LIMIT)
+        auxiliary_properties_blueprint = [
+            (IsOpenIfPossibleProp, True),
+            (ReceptacleMaxObjectsProp, 1),
         ]
-        # TODO: Let only PropAuxProp(ReceptacleMaxObjectsProp, RECEPTACLE_MAX_OBJECTS_PROP_LIMIT) once the auxiliary properties of auxiliary properties
-        self.auxiliary_properties = frozenset(auxiliary_properties)
+        # auxiliary_properties_blueprint += [
+        #     (ReceptacleMaxObjectsProp, i) for i in range(1, RECEPTACLE_MAX_OBJECTS_PROP_LIMIT)
+        # ]
+        self.auxiliary_properties_blueprint = frozenset(auxiliary_properties_blueprint)
 
-        super().__init__(EmptyContainerPSF(expect_clear))
+        super().__init__(EmptyContainerPSF(expect_clear), main_prop=main_prop, main_relation=main_relation)
 
 
-class ReceptacleMaxObjectsProp(ItemVariableProp[int, bool]):
+class ReceptacleMaxObjectsProp(AI2ThorBasedProp, ItemVariableProp[bool]):
     """Property of a receptacle containing fewer than a given number of objects."""
 
     target_ai2thor_property = SimObjVariableProp.RECEPTACLE_OBJ_IDS
     candidate_required_prop = ReceptacleProp(True)
 
-    def __init__(self, max_objects: int) -> None:
+    def __init__(
+        self,
+        max_objects: int,
+        main_prop: ItemVariableProp | None = None,
+        main_relation: Relation | None = None,
+    ) -> None:
         """
         Initialize the Property object.
 
         Args:
             max_objects (int): The maximum number of objects the receptacle can hold for the
                 property to be satisfied.
+            main_prop (ItemVariableProp): For auxiliary properties.
+            main_relation (Relation): For auxiliary properties.
         """
-        # auxiliary_properties: list[PropAuxProp] = [PropAuxProp(IsOpenIfPossibleProp, True)]
-        # if max_objects < RECEPTACLE_MAX_OBJECTS_PROP_LIMIT:
-        #     auxiliary_properties.append(PropAuxProp(ReceptacleMaxObjectsProp, max_objects + 1))
+        # auxiliary_properties_blueprint: list[tuple[type[ItemVariableProp], Any]] = [(IsOpenIfPossibleProp, True)]
+        # TODO: Add this when elimination of duplicate auxiliary props is finished
+        auxiliary_properties_blueprint = []
+        if max_objects < RECEPTACLE_MAX_OBJECTS_PROP_LIMIT:
+            auxiliary_properties_blueprint.append((ReceptacleMaxObjectsProp, max_objects + 1))
 
-        # self.auxiliary_properties = frozenset(auxiliary_properties)
-        # TODO: Uncomment this once the auxiliary properties of auxiliary properties are implemented
+        self.auxiliary_properties_blueprint = frozenset(auxiliary_properties_blueprint)
 
-        # super().__init__(SizeLimitPSF(max_elements=max_objects))
-        ItemVariableProp.__init__(self, SizeLimitPSF(max_elements=max_objects))
+        super().__init__(SizeLimitPSF(max_elements=max_objects), main_prop=main_prop, main_relation=main_relation)
+        # ItemVariableProp.__init__(self, SizeLimitPSF(max_elements=max_objects))

src/rl_thor/envs/tasks/item_prop.py

@@ -37,6 +37,8 @@
     IsToggledProp,
     IsUsedUpProp,
     OpennessProp,
+    ReceptacleClearedProp,
+    ReceptacleMaxObjectsProp,
     VisibleProp,
 )
 from rl_thor.envs.tasks.item_prop_interface import ItemProp