{
    "episode_id": "1016",
    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_08.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": {
            "009_gelatin_box_:0000": "any_targets|0",
            "007_tuna_fish_can_:0000": "any_targets|1",
            "003_cracker_box_:0000": "any_targets|2",
            "010_potted_meat_can_:0000": "any_targets|3",
            "008_pudding_box_:0000": "any_targets|4"
        }
    },
    "ao_states": {},
    "rigid_objs": [
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    0.81132,
                    -0.00089,
                    -0.5846,
                    -0.00587
                ],
                [
                    -0.00177,
                    0.99999,
                    -0.00397,
                    0.41941
                ],
                [
                    0.5846,
                    0.00426,
                    0.81131,
                    -0.01361
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    -0.99981,
                    0.00669,
                    0.01843,
                    0.8172
                ],
                [
                    0.00697,
                    0.99986,
                    0.01522,
                    0.42166
                ],
                [
                    -0.01832,
                    0.01534,
                    -0.99971,
                    -0.15449
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.97738,
                    -0.04675,
                    -0.20625,
                    3.26905
                ],
                [
                    -0.04673,
                    0.9989,
                    -0.005,
                    1.04089
                ],
                [
                    0.20625,
                    0.00475,
                    -0.97849,
                    4.51776
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    0.96781,
                    -0.00304,
                    0.25166,
                    3.33412
                ],
                [
                    0.00251,
                    0.99999,
                    0.00242,
                    0.97627
                ],
                [
                    -0.25166,
                    -0.00171,
                    0.96781,
                    4.22113
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    0.99552,
                    0.00362,
                    0.09445,
                    -1.03334
                ],
                [
                    -0.00586,
                    0.99971,
                    0.02347,
                    0.43449
                ],
                [
                    -0.09434,
                    -0.02392,
                    0.99525,
                    3.34438
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    0.96448,
                    -0.0008,
                    -0.26416,
                    3.27525
                ],
                [
                    0.00056,
                    1.0,
                    -0.00099,
                    0.96161
                ],
                [
                    0.26416,
                    0.0008,
                    0.96448,
                    3.67731
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.54644,
                    0.00013,
                    0.8375,
                    0.82522
                ],
                [
                    -0.00014,
                    1.0,
                    -6e-05,
                    0.91083
                ],
                [
                    -0.8375,
                    -8e-05,
                    0.54644,
                    7.27583
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    0.3656,
                    -0.03324,
                    0.93018,
                    0.30722
                ],
                [
                    0.04111,
                    0.99896,
                    0.01954,
                    0.94751
                ],
                [
                    -0.92986,
                    0.0311,
                    0.36659,
                    5.85245
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    -0.53904,
                    0.0,
                    0.84228,
                    1.01804
                ],
                [
                    0.0,
                    1.0,
                    0.0,
                    0.41926
                ],
                [
                    -0.84228,
                    0.0,
                    -0.53904,
                    0.02863
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.77237,
                    0.00073,
                    -0.63517,
                    0.59191
                ],
                [
                    -0.00093,
                    1.0,
                    2e-05,
                    0.7583
                ],
                [
                    0.63517,
                    0.00057,
                    0.77237,
                    6.81291
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    0.34378,
                    -1e-05,
                    0.93905,
                    -1.11089
                ],
                [
                    1e-05,
                    1.0,
                    1e-05,
                    0.4424
                ],
                [
                    -0.93905,
                    1e-05,
                    0.34378,
                    3.61399
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    0.83963,
                    -0.00789,
                    0.5431,
                    2.98926
                ],
                [
                    -0.00603,
                    0.9997,
                    0.02384,
                    0.6464
                ],
                [
                    -0.54313,
                    -0.02329,
                    0.83933,
                    7.44328
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.92099,
                    0.00013,
                    0.38958,
                    0.69447
                ],
                [
                    -0.00016,
                    1.0,
                    5e-05,
                    0.91084
                ],
                [
                    -0.38958,
                    -0.00011,
                    0.92099,
                    5.07111
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.43497,
                    0.00014,
                    -0.90045,
                    0.38764
                ],
                [
                    -0.00018,
                    1.0,
                    7e-05,
                    0.91084
                ],
                [
                    0.90045,
                    0.00013,
                    0.43497,
                    7.03217
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    -0.15826,
                    -0.00238,
                    0.9874,
                    3.49155
                ],
                [
                    -0.0021,
                    1.0,
                    0.00208,
                    0.94927
                ],
                [
                    -0.9874,
                    -0.00174,
                    -0.15826,
                    3.95839
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    -0.16702,
                    -5e-05,
                    0.98595,
                    4.1661
                ],
                [
                    -0.00017,
                    1.0,
                    3e-05,
                    0.65408
                ],
                [
                    -0.98595,
                    -0.00016,
                    -0.16702,
                    7.63632
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    -0.13431,
                    0.00163,
                    0.99094,
                    0.741
                ],
                [
                    -0.00097,
                    1.0,
                    -0.00177,
                    0.45679
                ],
                [
                    -0.99094,
                    -0.0012,
                    -0.13431,
                    3.32975
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    0.97447,
                    9e-05,
                    0.22452,
                    0.58614
                ],
                [
                    -5e-05,
                    1.0,
                    -0.00021,
                    0.72401
                ],
                [
                    -0.22452,
                    0.0002,
                    0.97447,
                    6.62727
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    0.67566,
                    -0.0,
                    0.73721,
                    -0.83351
                ],
                [
                    1e-05,
                    1.0,
                    -1e-05,
                    0.42998
                ],
                [
                    -0.73721,
                    1e-05,
                    0.67566,
                    3.42581
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.93951,
                    3e-05,
                    0.34251,
                    0.8237
                ],
                [
                    2e-05,
                    1.0,
                    -3e-05,
                    0.9303
                ],
                [
                    -0.34251,
                    -2e-05,
                    -0.93951,
                    6.37184
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    0.58612,
                    -0.00131,
                    -0.81022,
                    0.78808
                ],
                [
                    -0.00346,
                    0.99999,
                    -0.00411,
                    0.44628
                ],
                [
                    0.81021,
                    0.00521,
                    0.58611,
                    0.11854
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    -0.91929,
                    0.00382,
                    -0.39357,
                    -2.09421
                ],
                [
                    -0.0059,
                    0.99971,
                    0.0235,
                    0.78224
                ],
                [
                    0.39354,
                    0.02392,
                    -0.919,
                    3.14426
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    -0.07065,
                    0.0017,
                    -0.9975,
                    3.97847
                ],
                [
                    -0.00012,
                    1.0,
                    0.00171,
                    0.951
                ],
                [
                    0.9975,
                    0.00024,
                    -0.07065,
                    4.40498
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.67358,
                    -0.0354,
                    -0.73826,
                    0.7869
                ],
                [
                    -0.04569,
                    0.99894,
                    -0.00622,
                    0.52147
                ],
                [
                    0.7377,
                    0.02955,
                    -0.67449,
                    3.6817
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    -0.53142,
                    -7e-05,
                    0.84711,
                    0.35451
                ],
                [
                    4e-05,
                    1.0,
                    0.0001,
                    0.90168
                ],
                [
                    -0.84711,
                    9e-05,
                    -0.53142,
                    7.88035
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    -0.94148,
                    0.0,
                    -0.33708,
                    0.70025
                ],
                [
                    0.0,
                    1.0,
                    0.0,
                    0.42987
                ],
                [
                    0.33708,
                    0.0,
                    -0.94148,
                    3.45441
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    0.15354,
                    0.02335,
                    -0.98787,
                    3.70345
                ],
                [
                    -0.00418,
                    0.99973,
                    0.02298,
                    0.95386
                ],
                [
                    0.98813,
                    0.0006,
                    0.1536,
                    4.28062
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    0.98323,
                    0.00011,
                    -0.18235,
                    3.08001
                ],
                [
                    -0.0001,
                    1.0,
                    5e-05,
                    0.64348
                ],
                [
                    0.18235,
                    -4e-05,
                    0.98323,
                    7.37662
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    -0.24061,
                    0.0018,
                    -0.97062,
                    -1.94912
                ],
                [
                    0.00091,
                    1.0,
                    0.00163,
                    0.80465
                ],
                [
                    0.97062,
                    -0.00049,
                    -0.24061,
                    3.25854
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    0.42248,
                    0.02377,
                    -0.90606,
                    0.33892
                ],
                [
                    -0.00591,
                    0.99971,
                    0.02347,
                    0.87927
                ],
                [
                    0.90635,
                    -0.00457,
                    0.42249,
                    7.17677
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ]
    ],
    "targets": {
        "009_gelatin_box_:0000": [
            [
                -0.09338,
                0.0,
                0.99563,
                -2.09283
            ],
            [
                0.0,
                1.0,
                0.0,
                0.77711
            ],
            [
                -0.99563,
                0.0,
                -0.09338,
                2.68607
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "007_tuna_fish_can_:0000": [
            [
                -0.99988,
                0.0,
                -0.01567,
                0.449
            ],
            [
                0.0,
                1.0,
                0.0,
                0.42037
            ],
            [
                0.01567,
                0.0,
                -0.99988,
                -0.14547
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "003_cracker_box_:0000": [
            [
                0.96958,
                0.0,
                0.24479,
                0.66091
            ],
            [
                0.0,
                1.0,
                0.0,
                0.81328
            ],
            [
                -0.24479,
                0.0,
                0.96958,
                6.7682
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "010_potted_meat_can_:0000": [
            [
                -0.15274,
                0.0,
                -0.98827,
                -1.87901
            ],
            [
                0.0,
                1.0,
                0.0,
                0.80384
            ],
            [
                0.98827,
                0.0,
                -0.15274,
                2.70364
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "008_pudding_box_:0000": [
            [
                0.98772,
                0.0,
                -0.1562,
                -0.03904
            ],
            [
                0.0,
                1.0,
                0.0,
                0.42304
            ],
            [
                0.1562,
                0.0,
                0.98772,
                0.10839
            ],
            [
                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": [
        [
            "frl_apartment_sofa_:0000",
            null
        ],
        [
            "frl_apartment_sofa_:0000",
            null
        ],
        [
            "frl_apartment_table_02_:0000",
            null
        ],
        [
            "frl_apartment_table_02_:0000",
            null
        ],
        [
            "frl_apartment_chair_01_:0001",
            null
        ]
    ],
    "goal_receptacles": [
        [
            "frl_apartment_table_01_:0000",
            null
        ],
        [
            "frl_apartment_sofa_:0000",
            null
        ],
        [
            "kitchen_counter_:0000",
            0
        ],
        [
            "frl_apartment_table_01_:0000",
            null
        ],
        [
            "frl_apartment_sofa_:0000",
            null
        ]
    ]
}