interactive_solidity.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

# 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:
    # Add a random extension to one side of the far end of the platform. Use
    # "extension_length" and "extension_position" to manually configure its
    # size or position, respectively (see the ILE_API for details).
    add_extension: true
    # Freeze until the door occluder has finished descending.
    add_freeze: true
    # Add lips (edges) to the far end of the platform.
    add_lips: 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
    # The height of the occluder wall.  Can't be less the height of the 
    # door (2).
    # wall_height: 2.75

# Generate a placer that begins holding the target object (soccer ball),
# descends into the room, waits, and then releases it.
placers:
    - num: 1
      placed_object_labels: target
      # Position the placer's Z either in line with the platform extension
      # (50%) or off by 1 (50%), but let its X be randomized across the room.
      position_relative:
          label: platform_extension
          use_z: true
          add_z: [-1, 0, 0, 1]
      # 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, placer, and target. Remove these lines if you
# want additional randomly generated objects.
keyword_objects:
    - num: 0
random_structural_objects:
    - num: 0