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interactive_knowledgeable_agents.yaml
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interactive_knowledgeable_agents.yaml
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# Add a Retrieval goal with a soccer ball as the target object.
goal:
category: retrieval
target:
shape: soccer_ball
scale: 1.0
# It starts on top of the platform bisecting the room.
position:
x: 0
y: 0.501
z: 0
# Use a specific room size for this task.
room_dimensions:
x: 6
y: 5
z: 9
# Generate a short, thin platform bisecting the room, and two other platforms
# on each end of the room, all with the same height and color/texture.
# The performer agent starts on top of the bisecting platform.
shortcut_bisecting_platform:
has_blocking_wall: false
is_short: true
is_thin: true
other_platforms:
- num: 1
position:
x: 0
y: 0
z: 2
rotation_y: 0
scale:
x: 6
y: 0.5
z: 1
- num: 1
position:
x: 0
y: 0
z: -4
rotation_y: 0
scale:
x: 6
y: 0.5
z: 1
specific_interactable_objects:
# Generate two containers on either side of the bisecting platform with the
# same shape and scale. The target object will be placed into one of them.
- num: 1
labels: left_container
scale: 0.4
shape: separate_container
position:
x: -2.0
y: 0
z: 0
rotation:
x: 0
y: 0
z: 0
# The container's lid descends after the target_placers finish moving.
separate_lid_after: target_placers
- num: 1
labels: right_container
scale: 0.4
shape: separate_container
position:
x: 2.0
y: 0
z: 0
rotation:
x: 0
y: 0
z: 0
# The container's lid descends after the target_placers finish moving.
separate_lid_after: target_placers
# Generate a notched occluder that comes down at the beginning of the scene to
# hide the target object and the two containers, then goes back up after all
# placers have finished moving. Note the occluder is short enough to see the
# heads/faces of both agents.
structural_notched_occluders:
- num: 1
height: 0.9
position_z: -0.5
down_step: 13
up_step: 173
notch_height: 0.5
notch_width: 0.5
# Generate two placers that come down from the ceiling, appear to grab onto
# the target object, carry it to one of the two containers, release it into
# the container, and goes back up into the ceiling. One of the placers is a
# decoy and does not actually grab onto the target object.
placers_with_decoy:
# Each placer (decoy and non-decoy) will be randomly assigned an activation
# step and ending X position from the corresponding lists here.
activation_step: [29, 79]
labels: target_placers
# The target (soccer ball) will be released above one of the containers.
object_end_position_x: [2.0, -2.0]
placed_object_labels: target
placed_object_position:
x: 0
y: 0.501
z: 0
placed_object_rotation: 0
# The height of a scale 1 soccer ball.
decoy_y_modifier: 0.22
# Only move the target along the X axis.
move_object_y: 0
move_object_z: 0
# Generate two agents, one of which is "knowledgeable", and one is not. The
# knowledgeable agent starts looking at the target object and two containers.
# The non-knowledgeable agent cannot see the target object or either container.
# Both agents start pointing on the same step: the knowledgeable agent points
# at the target object, and the non-knowledgeable agent points at one of the
# two containers, chosen randomly.
knowledgeable_agent_pair:
# Position for the 1st agent (either knowledgeable or non-knowledgeable).
position_1:
- x: -1.5
y: 0.51
z: 2
- x: -1.5
y: 0.01
z: 1
# Position for the 2nd agent (either knowledgeable or non-knowledgeable).
position_2:
- x: 1.5
y: 0.51
z: 2
- x: 1.5
y: 0.01
z: 1
pointing_step: 189
target_labels: target
non_target_labels: [left_container, right_container]
# Generate a wall "facade" to ensure the room has the correct dimensions.
structural_walls:
- num: 1
ignore_bounds: true
same_material_as_room: true
position:
x: 0
y: 0
z: 2.75
rotation_y: 0
width: 6
height: 5
thickness: 0.5
# The performer agent is frozen until all objects/agents are finished moving.
freeze_while_moving: [agent, notched_occluders, placers]
# Override the defaults to avoid randomly generating any unnecessary objects.
# Remove these lines if you want additional randomly generated objects.
random_structural_objects:
- num: 0
keyword_objects:
- num: 0