interactive_object_permanence.yaml

# Add a Retrieval goal with a soccer ball as the target object.
goal:
    category: retrieval
    target:
        shape: soccer_ball
        scale:
            min: 1.0
            max: 3.0

# Only the target can be a soccer ball.
excluded_shapes: soccer_ball

# Use a specific room size for this task.
room_dimensions:
    x: 8
    y: 8
    z: 12

# Generate a platform bisecting the room.
shortcut_bisecting_platform: True

# Generate two L-occluders with a specific rotation and scale but semi-random
# position (note that they may not always be in line with each other).
structural_l_occluders:
    - num: 1
      position:
          x:
              min: -2.25
              max: -1.5
          y: 0
          z:
              min: 0.75
              max: 2.5
      rotation_y: 0
      scale_front_x: 1
      scale_front_z: 1
      scale_side_x: 0.25
      scale_side_z: 2
      scale_y: 1
      backwards: true
      labels: left_occluder
    - num: 1
      position:
          x:
              min: 1.5
              max: 2.25
          y: 0
          z:
              min: 0.75
              max: 2.5
      rotation_y: 0
      scale_front_x: 1
      scale_front_z: 1
      scale_side_x: 0.25
      scale_side_z: 2
      scale_y: 1
      backwards: false
      labels: right_occluder

# Generate one throwing device that begins holding the target object (soccer
# ball) positioned on either the left wall or the right wall with a semi-random
# depth, height, rotation, and throw force.
structural_throwers:
    - num: 1
      wall: [left, right]
      height:
          min: 2.5
          max: 4
      projectile_labels: target
      rotation_y:
          - 0
          - min: -15
            max: 15
      rotation_z: [0, 15]
      throw_force:
          # Use either a small throw force so the target is thrown on the same
          # side as the thrower (50%)...
          - 3
          # ...or a large throw force so the target is thrown to the opposite
          # side (50%), which may or may not be behind the L-occluder.
          - min: 7
            max: 12.5
      throw_step: 1
      # Position the thrower relative to one of the L-occluders.
      position_relative:
          label: [left_occluder, right_occluder]
          add_z: 2

# Override the defaults to avoid randomly generating any other objects besides
# the L-occluders, thrower, and target. Remove these lines if you want
# additional randomly generated objects.
keyword_objects:
    - num: 0
random_structural_objects:
    - num: 0