{
    "episode_id": "1025",
    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_03.scene_instance.json",
    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
    "additional_obj_config_paths": [
        "data/objects/ycb/"
    ],
    "start_position": [
        0,
        0,
        0
    ],
    "start_rotation": [
        0,
        0,
        0,
        1
    ],
    "info": {
        "object_labels": {
            "024_bowl_:0006": "bowl_target|0",
            "013_apple_:0000": "fruit_target|1"
        }
    },
    "ao_states": {},
    "rigid_objs": [
        [
            "004_sugar_box.object_config.json",
            [
                [
                    0.31816,
                    -0.03603,
                    0.94735,
                    -1.55682
                ],
                [
                    0.03942,
                    0.99892,
                    0.02475,
                    0.85082
                ],
                [
                    -0.94722,
                    0.02947,
                    0.31923,
                    3.25117
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    0.65613,
                    6e-05,
                    0.75465,
                    -2.011
                ],
                [
                    -0.00441,
                    0.99998,
                    0.00375,
                    1.29208
                ],
                [
                    -0.75464,
                    -0.00579,
                    0.65612,
                    -1.18367
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    0.64911,
                    0.00021,
                    -0.7607,
                    -2.00018
                ],
                [
                    0.00406,
                    0.99998,
                    0.00374,
                    1.27944
                ],
                [
                    0.76069,
                    -0.00552,
                    0.64909,
                    -0.86182
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    0.03957,
                    -0.00568,
                    -0.9992,
                    4.08291
                ],
                [
                    -0.04737,
                    0.99885,
                    -0.00756,
                    0.52164
                ],
                [
                    0.99809,
                    0.04763,
                    0.03926,
                    5.62012
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.61574,
                    -0.0,
                    0.78795,
                    -2.10744
                ],
                [
                    1e-05,
                    1.0,
                    -0.0,
                    0.91083
                ],
                [
                    -0.78795,
                    1e-05,
                    0.61574,
                    1.90056
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.94339,
                    0.00028,
                    0.33168,
                    -0.1221
                ],
                [
                    0.00025,
                    1.0,
                    -0.00012,
                    0.4748
                ],
                [
                    -0.33168,
                    -3e-05,
                    -0.94339,
                    -0.00892
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    0.98731,
                    0.0015,
                    0.15883,
                    -2.34229
                ],
                [
                    -0.00308,
                    0.99995,
                    0.00968,
                    1.27777
                ],
                [
                    -0.1588,
                    -0.01004,
                    0.98726,
                    -1.08787
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    0.02152,
                    0.00084,
                    0.99977,
                    -1.93569
                ],
                [
                    -0.00047,
                    1.0,
                    -0.00083,
                    0.90169
                ],
                [
                    -0.99977,
                    -0.00045,
                    0.02152,
                    1.96815
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    0.41127,
                    0.0011,
                    0.91151,
                    -2.11513
                ],
                [
                    0.00298,
                    0.99999,
                    -0.00255,
                    0.72694
                ],
                [
                    -0.91151,
                    0.00377,
                    0.41127,
                    1.05176
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    -0.42575,
                    -1e-05,
                    -0.90484,
                    -2.41485
                ],
                [
                    -0.0,
                    1.0,
                    -1e-05,
                    0.87655
                ],
                [
                    0.90484,
                    -0.0,
                    -0.42575,
                    -0.18019
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    0.95342,
                    -0.03172,
                    -0.29996,
                    3.93293
                ],
                [
                    0.04035,
                    0.99893,
                    0.02262,
                    0.50292
                ],
                [
                    0.29892,
                    -0.03366,
                    0.95368,
                    6.54004
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    -0.47006,
                    -8e-05,
                    -0.88264,
                    2.61679
                ],
                [
                    -7e-05,
                    1.0,
                    -5e-05,
                    0.96166
                ],
                [
                    0.88264,
                    4e-05,
                    -0.47006,
                    5.71365
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    -0.9667,
                    0.02601,
                    0.2546,
                    0.27167
                ],
                [
                    0.03372,
                    0.99909,
                    0.02597,
                    0.7148
                ],
                [
                    -0.25369,
                    0.03369,
                    -0.9667,
                    6.67741
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    -0.48268,
                    -0.00051,
                    -0.8758,
                    -2.3074
                ],
                [
                    -0.00035,
                    1.0,
                    -0.00039,
                    0.88718
                ],
                [
                    0.8758,
                    0.00012,
                    -0.48268,
                    2.18583
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.94613,
                    -0.03917,
                    0.3214,
                    4.23338
                ],
                [
                    -0.04397,
                    0.999,
                    -0.00769,
                    0.52157
                ],
                [
                    -0.32078,
                    -0.02141,
                    -0.94691,
                    6.66982
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    -0.43318,
                    -3e-05,
                    -0.90131,
                    -2.44917
                ],
                [
                    -0.00026,
                    1.0,
                    9e-05,
                    0.88718
                ],
                [
                    0.90131,
                    0.00028,
                    -0.43318,
                    1.76585
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.86631,
                    -0.00166,
                    -0.4995,
                    -2.10757
                ],
                [
                    0.00166,
                    0.99998,
                    -0.0062,
                    1.32125
                ],
                [
                    0.4995,
                    -0.0062,
                    -0.86629,
                    -1.07652
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    0.99913,
                    -0.03929,
                    0.01382,
                    -2.1457
                ],
                [
                    0.03895,
                    0.99895,
                    0.02419,
                    0.79515
                ],
                [
                    -0.01475,
                    -0.02363,
                    0.99961,
                    1.18936
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    -0.94648,
                    1e-05,
                    0.32277,
                    -2.21486
                ],
                [
                    1e-05,
                    1.0,
                    -1e-05,
                    0.72222
                ],
                [
                    -0.32277,
                    -0.0,
                    -0.94648,
                    1.09753
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.99445,
                    5e-05,
                    -0.10523,
                    4.074
                ],
                [
                    5e-05,
                    1.0,
                    -2e-05,
                    0.48541
                ],
                [
                    0.10523,
                    -3e-05,
                    -0.99445,
                    6.63378
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    -0.67678,
                    0.00859,
                    0.73613,
                    -2.15386
                ],
                [
                    0.03903,
                    0.99894,
                    0.02423,
                    0.79516
                ],
                [
                    -0.73515,
                    0.04513,
                    -0.6764,
                    1.32254
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.7785,
                    -2e-05,
                    0.62764,
                    -2.13477
                ],
                [
                    -0.00362,
                    0.99998,
                    0.00453,
                    1.3006
                ],
                [
                    -0.62763,
                    -0.0058,
                    0.77849,
                    -1.29367
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    0.17463,
                    1e-05,
                    -0.98463,
                    -1.98791
                ],
                [
                    -1e-05,
                    1.0,
                    1e-05,
                    0.88719
                ],
                [
                    0.98463,
                    1e-05,
                    0.17463,
                    -0.08631
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.7574,
                    -2e-05,
                    0.65295,
                    -2.24112
                ],
                [
                    -1e-05,
                    1.0,
                    2e-05,
                    0.9303
                ],
                [
                    -0.65295,
                    1e-05,
                    -0.7574,
                    0.08339
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    0.74674,
                    -0.00017,
                    -0.66511,
                    -2.1553
                ],
                [
                    0.00424,
                    0.99998,
                    0.0045,
                    1.26825
                ],
                [
                    0.6651,
                    -0.00618,
                    0.74673,
                    -0.95728
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.24114,
                    -3e-05,
                    0.97049,
                    2.08515
                ],
                [
                    4e-05,
                    1.0,
                    5e-05,
                    1.00477
                ],
                [
                    -0.97049,
                    5e-05,
                    -0.24114,
                    6.23677
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    -0.56371,
                    -0.02272,
                    0.82566,
                    1.24214
                ],
                [
                    -0.00589,
                    0.99971,
                    0.02349,
                    0.42377
                ],
                [
                    -0.82595,
                    0.00838,
                    -0.56368,
                    -0.01403
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    -0.81264,
                    2e-05,
                    -0.58276,
                    -2.21029
                ],
                [
                    8e-05,
                    1.0,
                    -8e-05,
                    0.51512
                ],
                [
                    0.58276,
                    -0.00011,
                    -0.81264,
                    -0.19652
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "013_apple.object_config.json",
            [
                [
                    -0.86924,
                    0.24292,
                    0.4306,
                    -2.07237
                ],
                [
                    0.14503,
                    0.95793,
                    -0.24765,
                    1.28717
                ],
                [
                    -0.47264,
                    -0.15282,
                    -0.8679,
                    -0.9745
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ]
    ],
    "targets": {
        "024_bowl_:0006": [
            [
                0.2581,
                0.0,
                -0.96612,
                -1.77033
            ],
            [
                0.0,
                1.0,
                0.0,
                0.78957
            ],
            [
                0.96612,
                0.0,
                0.2581,
                3.38192
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "013_apple_:0000": [
            [
                -0.95061,
                0.0,
                0.31038,
                -1.42407
            ],
            [
                0.0,
                1.0,
                0.0,
                0.79801
            ],
            [
                -0.31038,
                0.0,
                -0.95061,
                3.75881
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    },
    "markers": [
        {
            "name": "cab_push_point_7",
            "type": "articulated_object",
            "params": {
                "offset": [
                    0.3,
                    0.0,
                    0
                ],
                "link": "drawer1_top",
                "object": "kitchen_counter_:0000"
            }
        },
        {
            "name": "cab_push_point_6",
            "type": "articulated_object",
            "params": {
                "offset": [
                    0.3,
                    0.0,
                    0
                ],
                "link": "drawer2_top",
                "object": "kitchen_counter_:0000"
            }
        },
        {
            "name": "cab_push_point_5",
            "type": "articulated_object",
            "params": {
                "offset": [
                    0.3,
                    0.0,
                    0
                ],
                "link": "drawer3",
                "object": "kitchen_counter_:0000"
            }
        },
        {
            "name": "cab_push_point_4",
            "type": "articulated_object",
            "params": {
                "offset": [
                    0.3,
                    0.0,
                    0
                ],
                "link": "drawer4",
                "object": "kitchen_counter_:0000"
            }
        },
        {
            "name": "fridge_push_point",
            "type": "articulated_object",
            "params": {
                "offset": [
                    0.1,
                    -0.62,
                    0.2
                ],
                "link": "top_door",
                "object": "fridge_:0000"
            }
        }
    ],
    "target_receptacles": [
        [
            "kitchen_counter_:0000",
            7
        ],
        [
            "fridge_:0000",
            0
        ]
    ],
    "goal_receptacles": [
        [
            "frl_apartment_table_01_:0000",
            null
        ],
        [
            "frl_apartment_table_01_:0000",
            null
        ]
    ]
}