containment.yaml

# Add a Retrieval goal with a soccer ball as the target object.
goal:
    category: retrieval
    target:
        shape: soccer_ball
        scale: 1.0
        # Target is either positioned inside a container (50%), in front of it
        # (25%), or behind it (25%), randomized for each scene.
        keyword_location:
            keyword:
                - in
                - in
                - between
                - behind
            container_label: keywords_containers
            relative_object_label: keywords_containers

# Only the target can be a soccer ball.
excluded_shapes: soccer_ball

# Generate many containers and zero or more context (distractor) objects.
keyword_objects:
    - keyword: containers
      num:
          min: 5
          max: 10
    - 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