interactive_support_relations.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: 2.5
        # The soccer ball is always positioned in the container object.
        keyword_location:
            keyword: in
            container_label: container_for_target

# 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 an occluding wall containing three doors (called a "door occluder")
# and a tall platform bisecting the room.
shortcut_triple_door_choice:
    # Make the far end of the platform taller and wider.
    bigger_far_end: true
    # Freeze until the door occluder has finished descending.
    add_freeze: true
    # Allow only one door to be opened in each scene (forced choice).
    restrict_open_doors: true
    # The door occluder starts to descend at a specific action/step.
    start_drop_step: 26

# Generate placers that begin holding a container object (that itself holds
# the target object), descend into the room, wait, and then release it.
placers:
    - num: 1
      placed_object_labels: container_for_target
      placed_object_position:
          # Position the container either directly over the platform (X=0),
          # partially over the platform, or not over the platform at all.
          x: [-2.25, -1.25, -0.75, -0.25, 0, 0, 0.25, 0.75, 1.25, 2.25]
          # Ensure the container has room above it for the target object.
          y: 7.305
          z: 0.75
      placed_object_rotation: [0, 180]
      placed_object_scale: 0.75
      placed_object_shape:
          - container_symmetric_01
          - container_symmetric_02
          - container_symmetric_03
          - container_symmetric_04
          - container_symmetric_05
          - container_symmetric_06
          - container_symmetric_07
          - container_symmetric_08
          - container_symmetric_09
          - container_symmetric_10
          - container_symmetric_11
          - container_symmetric_12
          - container_asymmetric_01
          - container_asymmetric_02
          - container_asymmetric_03
          - container_asymmetric_04
          - container_asymmetric_05
          - container_asymmetric_06
          - container_asymmetric_07
          - container_asymmetric_08
          - container_asymmetric_09
          - container_asymmetric_11
          - container_asymmetric_12
      # The placer activates on the first action/step, and deactivates
      # (releases) after the door occluder has finished its downward movement.
      activation_step: 1
      deactivation_step: 60
      # Deactivate (release the target) at a height above the platform.
      end_height: 2.3

# Override the defaults to avoid randomly generating any other objects besides
# the platform, door occluder, placers, container, and target. Remove these
# lines if you want additional randomly generated objects.
keyword_objects:
    - num: 0
random_structural_objects:
    - num: 0