{
    "episode_id": "1030",
    "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_:0005": "bowl_target|0",
            "013_apple_:0000": "fruit_target|1"
        }
    },
    "ao_states": {},
    "rigid_objs": [
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    -0.04419,
                    -0.0,
                    0.99902,
                    2.57012
                ],
                [
                    -2e-05,
                    1.0,
                    0.0,
                    0.94924
                ],
                [
                    -0.99902,
                    -2e-05,
                    -0.04419,
                    6.15232
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    -0.05912,
                    -0.00714,
                    -0.99823,
                    4.18663
                ],
                [
                    0.0039,
                    0.99997,
                    -0.00739,
                    0.43491
                ],
                [
                    0.99824,
                    -0.00433,
                    -0.05909,
                    5.58252
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    0.8649,
                    -0.00044,
                    0.50194,
                    -2.13207
                ],
                [
                    0.00142,
                    1.0,
                    -0.00157,
                    0.7346
                ],
                [
                    -0.50193,
                    0.00207,
                    0.8649,
                    1.25165
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    0.98526,
                    3e-05,
                    0.17107,
                    -1.9828
                ],
                [
                    -4e-05,
                    1.0,
                    1e-05,
                    0.9303
                ],
                [
                    -0.17107,
                    -1e-05,
                    0.98526,
                    1.98161
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    -0.58273,
                    0.00013,
                    0.81267,
                    -1.85898
                ],
                [
                    0.0002,
                    1.0,
                    -1e-05,
                    0.91084
                ],
                [
                    -0.81267,
                    0.00016,
                    -0.58273,
                    2.21829
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    0.66381,
                    -1e-05,
                    -0.7479,
                    -2.3306
                ],
                [
                    -2e-05,
                    1.0,
                    -2e-05,
                    0.9303
                ],
                [
                    0.7479,
                    3e-05,
                    0.66381,
                    2.12454
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.51327,
                    -0.02975,
                    -0.85771,
                    -2.13042
                ],
                [
                    -0.04065,
                    0.99912,
                    -0.01033,
                    1.35661
                ],
                [
                    0.85727,
                    0.02957,
                    -0.51403,
                    -1.19492
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    -0.03924,
                    0.02325,
                    -0.99896,
                    -2.21909
                ],
                [
                    -0.0059,
                    0.99971,
                    0.0235,
                    0.78224
                ],
                [
                    0.99921,
                    0.00682,
                    -0.0391,
                    3.43292
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    -0.37614,
                    -0.00211,
                    -0.92656,
                    4.1179
                ],
                [
                    -0.00051,
                    1.0,
                    -0.00207,
                    0.44225
                ],
                [
                    0.92656,
                    -0.0003,
                    -0.37614,
                    6.53063
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    -0.80816,
                    0.00012,
                    0.58897,
                    1.29136
                ],
                [
                    9e-05,
                    1.0,
                    -7e-05,
                    0.43169
                ],
                [
                    -0.58897,
                    -0.0,
                    -0.80816,
                    -0.00256
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    -0.89392,
                    -0.0,
                    0.44823,
                    4.03165
                ],
                [
                    -0.0,
                    1.0,
                    0.0,
                    0.42998
                ],
                [
                    -0.44823,
                    0.0,
                    -0.89392,
                    5.46678
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    -0.73787,
                    -0.00171,
                    0.67494,
                    -2.18904
                ],
                [
                    -0.00243,
                    1.0,
                    -0.00013,
                    0.75831
                ],
                [
                    -0.67494,
                    -0.00174,
                    -0.73787,
                    1.08854
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    0.33541,
                    0.00038,
                    0.94207,
                    3.85342
                ],
                [
                    0.00016,
                    1.0,
                    -0.00046,
                    0.4424
                ],
                [
                    -0.94207,
                    0.00031,
                    0.33541,
                    5.64307
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    -0.37288,
                    1e-05,
                    0.92788,
                    4.04815
                ],
                [
                    -0.0,
                    1.0,
                    -1e-05,
                    0.43166
                ],
                [
                    -0.92788,
                    -0.0,
                    -0.37288,
                    6.76581
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    0.59592,
                    0.02147,
                    -0.80276,
                    -2.06919
                ],
                [
                    -0.04118,
                    0.99914,
                    -0.00385,
                    1.35841
                ],
                [
                    0.80199,
                    0.03535,
                    0.59629,
                    -0.88524
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.04065,
                    0.00013,
                    0.99917,
                    0.97899
                ],
                [
                    0.0002,
                    1.0,
                    -0.00012,
                    0.47479
                ],
                [
                    -0.99917,
                    0.0002,
                    -0.04065,
                    0.09667
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.98794,
                    -0.00039,
                    0.15482,
                    3.99451
                ],
                [
                    0.00039,
                    1.0,
                    4e-05,
                    0.46605
                ],
                [
                    -0.15482,
                    2e-05,
                    0.98794,
                    5.68067
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.38652,
                    -1e-05,
                    -0.92228,
                    3.81589
                ],
                [
                    4e-05,
                    1.0,
                    -3e-05,
                    0.48541
                ],
                [
                    0.92228,
                    -5e-05,
                    -0.38652,
                    6.72405
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    0.85943,
                    -0.03492,
                    -0.51007,
                    -1.82941
                ],
                [
                    0.04937,
                    0.99867,
                    0.01483,
                    0.85052
                ],
                [
                    0.50887,
                    -0.03793,
                    0.86001,
                    3.27505
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.99368,
                    -4e-05,
                    -0.11226,
                    -2.2385
                ],
                [
                    4e-05,
                    1.0,
                    -0.0,
                    0.91083
                ],
                [
                    0.11226,
                    -0.0,
                    0.99368,
                    0.62592
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    -0.04063,
                    4e-05,
                    -0.99917,
                    2.45164
                ],
                [
                    2e-05,
                    1.0,
                    4e-05,
                    0.95101
                ],
                [
                    0.99917,
                    -2e-05,
                    -0.04063,
                    5.65241
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    0.89538,
                    0.00078,
                    -0.4453,
                    -1.97968
                ],
                [
                    0.00252,
                    0.99997,
                    0.00682,
                    1.26668
                ],
                [
                    0.44529,
                    -0.00723,
                    0.89536,
                    -1.22902
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    -0.69379,
                    9e-05,
                    -0.72018,
                    0.67135
                ],
                [
                    8e-05,
                    1.0,
                    4e-05,
                    0.66863
                ],
                [
                    0.72018,
                    -3e-05,
                    -0.69379,
                    6.82755
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    -0.98566,
                    -2e-05,
                    -0.16875,
                    0.83471
                ],
                [
                    -1e-05,
                    1.0,
                    -1e-05,
                    0.45533
                ],
                [
                    0.16875,
                    -1e-05,
                    -0.98566,
                    0.40312
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.49843,
                    8e-05,
                    -0.86693,
                    2.72793
                ],
                [
                    1e-05,
                    1.0,
                    8e-05,
                    1.00478
                ],
                [
                    0.86693,
                    4e-05,
                    -0.49843,
                    6.11887
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    0.42265,
                    0.00376,
                    -0.90628,
                    -2.3375
                ],
                [
                    0.04894,
                    0.99844,
                    0.02697,
                    1.33781
                ],
                [
                    0.90497,
                    -0.05576,
                    0.42181,
                    -1.24517
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    -0.9917,
                    -0.00064,
                    -0.12857,
                    4.11017
                ],
                [
                    -0.00056,
                    1.0,
                    -0.00068,
                    0.44238
                ],
                [
                    0.12857,
                    -0.0006,
                    -0.9917,
                    5.70701
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    0.88142,
                    0.00016,
                    0.47234,
                    -2.0225
                ],
                [
                    -0.00022,
                    1.0,
                    8e-05,
                    0.51512
                ],
                [
                    -0.47234,
                    -0.00017,
                    0.88142,
                    -0.3631
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "013_apple.object_config.json",
            [
                [
                    -0.97997,
                    -0.17661,
                    0.09201,
                    -2.31435
                ],
                [
                    -0.1604,
                    0.97384,
                    0.16093,
                    1.28382
                ],
                [
                    -0.11803,
                    0.14295,
                    -0.98267,
                    -1.0482
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ]
    ],
    "targets": {
        "024_bowl_:0005": [
            [
                -0.86388,
                0.0,
                0.50371,
                -1.80851
            ],
            [
                0.0,
                1.0,
                0.0,
                0.78957
            ],
            [
                -0.50371,
                0.0,
                -0.86388,
                3.00256
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "013_apple_:0000": [
            [
                -0.99544,
                0.0,
                -0.09542,
                -2.15329
            ],
            [
                0.0,
                1.0,
                0.0,
                0.79801
            ],
            [
                0.09542,
                0.0,
                -0.99544,
                2.93667
            ],
            [
                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
        ]
    ]
}