placers.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

# Generate many placers. One will begin holding the target, then release it.
placers:
    - num: 1
      placed_object_labels: target
      # 50% of the time the object will be released in mid-air.
      end_height: [0, 0, 0, 0, 0, 0, 0.25, 0.5, 0.75, 1, 1.25, 1.5]
    # Some placers will remain empty (never holding an object) but still go
    # through the same down/up motion.
    - num:
        min: 1
        max: 2
      # 50% of the time the object will be released in mid-air.
      end_height: [0, 0, 0, 0, 0, 0, 0.25, 0.5, 0.75, 1, 1.25, 1.5]
      empty_placer: True
    # Some placers will begin holding other objects, then release them.
    - num:
        min: 2
        max: 4
      # 50% of the time the object will be released in mid-air.
      end_height: [0, 0, 0, 0, 0, 0, 0.25, 0.5, 0.75, 1, 1.25, 1.5]      
    # Some placers will pickup random small objects that begin on the ground.
    - num:
        min: 2
        max: 4
      pickup_object: True

# Override the default to avoid randomly generating any other objects besides
# the target and the objects that begin held by placers. Remove these lines if
# you want additional randomly generated objects.
keyword_objects:
    - num: 0
random_structural_objects:
    - num: 0