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interactive_arithmetic.yaml
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# Add a Multi Retrieval goal with one to five identical soccer balls as the
# target objects. The performer agent must pick up all targets to succeed.
# All target objects will be positioned on either the left side or the right
# side of the room, adjacent to each other. Other identical soccer balls will
# be positioned on the opposite side of the room, but in lesser quantity. Only
# the soccer balls on the side with more soccer balls are considered "targets".
# Furthermore, some soccer balls will either be added to or removed from the
# scene; you must add or subtract in order to identify the correct side.
forced_choice_multi_retrieval_target: soccer_ball
# Use a specific room size for this task.
room_dimensions:
x: 8
y: 6
z: 12
# Generate a platform bisecting the room (this is a forced choice task).
shortcut_bisecting_platform:
is_short: true
# The performer agent is frozen until all the objects placers and moving_occluders are finished moving.
freeze_while_moving: [placers, moving_occluders]
# Generate two occluding walls that descend at the beginning of the scene to
# completely occlude the objects positioned on each side of the room.
# The performer agent must remember how many objects are initially on each
# side, and must count the number of objects added or removed.
# If you do not want occluders in your scenes, remove this entire config
# option, and change the "activate_after" line for the placers below.
structural_moving_occluders:
- num: 1
occluder_height: 1.5
occluder_thickness: 0.1
occluder_width: 2
origin: 'left'
position_x: -1.55
position_z: 0
reverse_direction: false
rotation_y: 0
labels: left_occluder
move_down_only: true
- num: 1
occluder_height: 1.5
occluder_thickness: 0.1
occluder_width: 2
origin: 'right'
position_x: 1.55
position_z: 0
reverse_direction: false
rotation_y: 0
labels: right_occluder
move_down_only: true
# Generate one to five identical objects on each side of the room.
specific_interactable_objects:
# Generate a possible target object to establish "group_1".
- num: 1
shape: soccer_ball
scale:
min: 1.0
max: 3.0
# Position it on either the left side or the right side of the room.
position:
- x:
min: -1.75
max: -2.75
z:
min: 2.0
max: 4.5
- x:
min: 1.75
max: 2.75
z:
min: 2.0
max: 4.5
rotation:
- y: 0
labels: [group_1, group_1_center_object]
# Generate zero or more additional possible target objects in "group_1".
- num:
min: 0
max: 4
shape: soccer_ball
identical_to: group_1_center_object
labels: group_1
# Position them adjacent to the first "group_1" object.
keyword_location:
keyword: adjacent
adjacent_distance:
- x: 0.1
z: 0
- x: 0.1
z: 0.1
- x: 0
z: 0.1
- x: -0.1
z: 0.1
- x: -0.1
z: 0
- x: -0.1
z: -0.1
- x: 0
z: -0.1
- x: 0.1
z: -0.1
relative_object_label: group_1_center_object
# Generate a possible target object to establish "group_1".
- num: 1
shape: soccer_ball
identical_to: group_1_center_object
labels: [group_2, group_2_center_object]
# Position it on the opposite side from all the "group_1" objects.
keyword_location:
keyword: opposite_x
relative_object_label: group_1_center_object
# Generate zero or more additional possible target objects in "group_2".
- num:
min: 0
max: 4
shape: soccer_ball
identical_to: group_2_center_object
labels: group_2
# Position them adjacent to the first "group_2" object.
keyword_location:
keyword: adjacent
adjacent_distance:
- x: 0.1
z: 0
- x: 0.1
z: 0.1
- x: 0
z: 0.1
- x: -0.1
z: 0.1
- x: -0.1
z: 0
- x: -0.1
z: -0.1
- x: 0
z: -0.1
- x: 0.1
z: -0.1
relative_object_label: group_2_center_object
# Generate one to four placers that descend after the occluders are finished
# moving to either "place" (add) new objects or "pick up" (remove) existing
# objects, which are all on one side of the room.
placers:
- num: [1, 2, 3, 4]
activate_after: [left_occluder, right_occluder]
# If you remove the occluders from your scenes, replace the
# "activate_after" line with the following:
# activation_step: 1
randomize_once:
# All of the placers will either "place" or "pick up" in each scene.
pickup_object: [True, False]
# All of the placers will act on the same group in each scene.
placed_object_labels: [group_1, group_2]
existing_object_required: True
retain_position: True
# Override the defaults to avoid randomly generating any other objects besides
# the platform, the targets, and the non-targets. Remove these lines if you
# want additional randomly generated objects.
keyword_objects:
- num: 0
random_structural_objects:
- num: 0