occlusion_by_furniture.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

# Generate many obstacles and/or occluders, which are large interactable
# objects like furniture, and zero or more context (distractor) objects.
# One obstacle or occluder will always begin in front of the target.
keyword_objects:
    - keyword:
        - obstacles
        - occluders
      num: 1
      keyword_location:
          keyword:
              - occlude
          relative_object_label: target
    - keyword:
        - obstacles
        - occluders
      num:
          min: 4
          max: 9
    - keyword: context
      num:
          min: 0
          max: 10

# Override the default to avoid randomly generating other structural objects.
# Remove these lines if you want additional randomly generated objects.
random_structural_objects:
    - num: 0