passive_physics_collisions.yaml

# Setup the scene in exactly the same way as the "passive physics" eval scenes.
# This automatically sets the performer agent's starting position and rotation,
# room dimensions, floor friction, and a platform to adjust the camera height.
passive_physics_scene: true

# Max of 200 action steps in each passive collisions scene.
last_step: 200

# One moving-and-rotating occluding wall with semi-random width and position.
# Remove these lines if you don't want an occluder in your scenes.
structural_moving_occluders:
    - num: 1
      occluder_height: 1.8
      occluder_thickness: 0.1
      occluder_width:
          min: 2.0
          max: 4.0
      origin: 'top'
      position_x:
          min: -1.5
          max: 1.5
      position_z: 1
      move_up_before_last_step: true
      reverse_direction: false
      rotation_y: 0
      labels: occluder

# One thrower with random small object at semi-random location.
structural_throwers:
    - num: 1
      wall: ['left', 'right']
      # Depth (Z position) along the wall.
      position_wall:
          min: 4.6
          max: 6.4
      height: 0
      rotation_y: 0
      rotation_z: 0
      projectile_labels: rolled_object
      # Choose randomly from shapes normally used in passive collisions tasks.
      # Remove shapes from this list you don't want to generate.
      # Copy lines for shapes you want to generate more often than others.
      projectile_shape:
          - ball
          - bobcat
          - bus_1
          - car_1
          - car_2
          - car_3
          - cart_2
          - cylinder
          - dog_on_wheels
          - dog_on_wheels_2
          - duck_on_wheels
          - duck_on_wheels_2
          - dumbbell_1
          - dumbbell_2
          - jeep
          - racecar_red
          - rollable_1
          - rollable_2
          - rollable_3
          - rollable_4
          - roller
          - skateboard
          - sphere
          - tank_1
          - tank_2
          - tie_fighter
          - train_1
          - train_2
          - trolley_1
          - truck_1
          - truck_2
          - truck_3
          - truck_4
          - tube_narrow
          - tube_wide
          - turtle_on_wheels
      # Automatically select a good throw force for a collision scene.
      passive_physics_collision_force: true
      throw_step:
          min: 51
          max: 80

# One object with the same shape and size as the rolled object, but a different
# color, positioned so it will sometimes (50%) cause a collision.
specific_interactable_objects:
    - num: 1
      identical_except_color: rolled_object
      position_relative:
          # Give this object a Z position either in line with the thrower and
          # rolled object, and will therefore cause a collision (50%), or off
          # by 3, and will therefore NOT cause a collision (50%).
          # Change "add_z" to 0 if you want to always generate collisions.
          - label: rolled_object
            use_z: true
            add_z: [-3, 0, 0, 3]
          # Give this object a X position hidden behind the occluder.
          # Remove these lines if you don't want an occluder in your scenes.
          - label: occluder
            use_x: true
            view_angle_x: true
      # The object will either face directly to the left or the right.
      rotation:
          y: [0, 180]
      rotate_cylinders: True
      # Uncomment these lines if you don't want an occluder in your scenes
      # to ensure this object is positioned within the camera's view.
      # position:
      #     x:
      #         min: -2
      #         max: 2

# Override the defaults to avoid randomly generating any other objects.
keyword_objects:
    - num: 0
random_structural_objects:
    - num: 0
excluded_shapes: soccer_ball