{
    "episode_id": "1019",
    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_02.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": {
            "004_sugar_box_:0000": "any_targets|0",
            "004_sugar_box_:0001": "any_targets|1",
            "010_potted_meat_can_:0000": "any_targets|2",
            "005_tomato_soup_can_:0000": "any_targets|3",
            "009_gelatin_box_:0000": "any_targets|4"
        }
    },
    "ao_states": {},
    "rigid_objs": [
        [
            "004_sugar_box.object_config.json",
            [
                [
                    0.99728,
                    -0.03634,
                    -0.06405,
                    3.86443
                ],
                [
                    0.03797,
                    0.99898,
                    0.02434,
                    0.50307
                ],
                [
                    0.0631,
                    -0.0267,
                    0.99765,
                    4.03695
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    -0.62837,
                    0.04352,
                    -0.7767,
                    -2.07018
                ],
                [
                    0.03914,
                    0.99894,
                    0.0243,
                    0.79516
                ],
                [
                    0.77693,
                    -0.01513,
                    -0.62941,
                    1.94618
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    -0.58301,
                    -0.00012,
                    -0.81247,
                    -2.41702
                ],
                [
                    -4e-05,
                    1.0,
                    -0.00012,
                    0.90168
                ],
                [
                    0.81247,
                    -4e-05,
                    -0.58301,
                    3.14743
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    -0.59316,
                    -0.00303,
                    0.80508,
                    1.11024
                ],
                [
                    -0.00569,
                    0.99998,
                    -0.00043,
                    0.45536
                ],
                [
                    -0.80507,
                    -0.00484,
                    -0.59317,
                    3.91596
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    0.76506,
                    -0.0,
                    -0.64396,
                    1.07094
                ],
                [
                    0.0,
                    1.0,
                    0.0,
                    0.42987
                ],
                [
                    0.64396,
                    -0.0,
                    0.76506,
                    6.42898
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    0.39386,
                    -0.01927,
                    0.91897,
                    0.20295
                ],
                [
                    -0.0059,
                    0.99971,
                    0.02349,
                    0.95374
                ],
                [
                    -0.91915,
                    -0.01468,
                    0.39363,
                    0.07915
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    -0.99985,
                    1e-05,
                    -0.01749,
                    -1.76818
                ],
                [
                    1e-05,
                    1.0,
                    1e-05,
                    0.64348
                ],
                [
                    0.01749,
                    1e-05,
                    -0.99985,
                    3.57682
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    -0.89037,
                    0.00056,
                    -0.45524,
                    2.52979
                ],
                [
                    0.00124,
                    1.0,
                    -0.00121,
                    0.80472
                ],
                [
                    0.45523,
                    -0.00165,
                    -0.89037,
                    7.21515
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    -0.02589,
                    -0.02329,
                    0.99939,
                    -2.09076
                ],
                [
                    0.03913,
                    0.99894,
                    0.02429,
                    0.79516
                ],
                [
                    -0.9989,
                    0.03973,
                    -0.02495,
                    2.11281
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    0.06532,
                    1e-05,
                    -0.99786,
                    -2.03811
                ],
                [
                    3e-05,
                    1.0,
                    2e-05,
                    0.90168
                ],
                [
                    0.99786,
                    -3e-05,
                    0.06532,
                    2.85036
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    0.77567,
                    -9e-05,
                    0.63114,
                    -0.70789
                ],
                [
                    -0.00028,
                    1.0,
                    0.00048,
                    0.69728
                ],
                [
                    -0.63114,
                    -0.00055,
                    0.77567,
                    3.50766
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    -0.71447,
                    -0.00145,
                    0.69967,
                    -1.7434
                ],
                [
                    -0.00036,
                    1.0,
                    0.00171,
                    0.6686
                ],
                [
                    -0.69967,
                    0.00097,
                    -0.71447,
                    3.28066
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    -0.43914,
                    0.03774,
                    -0.89762,
                    2.07356
                ],
                [
                    0.04039,
                    0.99894,
                    0.02224,
                    0.85077
                ],
                [
                    0.89751,
                    -0.02649,
                    -0.4402,
                    7.49118
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    -0.68831,
                    -2e-05,
                    0.72542,
                    -1.93132
                ],
                [
                    -2e-05,
                    1.0,
                    1e-05,
                    0.88719
                ],
                [
                    -0.72542,
                    -0.0,
                    -0.68831,
                    0.63924
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    0.99417,
                    0.00837,
                    -0.10746,
                    -2.43746
                ],
                [
                    -0.00589,
                    0.99971,
                    0.02339,
                    0.87927
                ],
                [
                    0.10763,
                    -0.02262,
                    0.99393,
                    2.81015
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.85183,
                    -0.0348,
                    0.52266,
                    3.99905
                ],
                [
                    -0.04532,
                    0.99895,
                    -0.00733,
                    0.52167
                ],
                [
                    -0.52185,
                    -0.02993,
                    -0.85251,
                    3.67323
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.41916,
                    -0.02552,
                    -0.90756,
                    1.46584
                ],
                [
                    -0.04879,
                    0.99879,
                    -0.00556,
                    0.86942
                ],
                [
                    0.9066,
                    0.04195,
                    -0.41989,
                    7.2266
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    0.47138,
                    0.01601,
                    -0.88178,
                    1.24016
                ],
                [
                    -0.00409,
                    0.99986,
                    0.01597,
                    0.95375
                ],
                [
                    0.88192,
                    -0.00392,
                    0.47138,
                    0.2826
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.3845,
                    -0.01071,
                    0.92306,
                    0.47747
                ],
                [
                    -0.04558,
                    0.99893,
                    -0.00739,
                    1.04074
                ],
                [
                    -0.922,
                    -0.04492,
                    -0.38458,
                    -0.26651
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    -0.35487,
                    0.0012,
                    0.93491,
                    1.09754
                ],
                [
                    -0.00558,
                    0.99998,
                    -0.00341,
                    0.46567
                ],
                [
                    -0.9349,
                    -0.00643,
                    -0.35486,
                    6.24534
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    -0.83808,
                    0.00855,
                    -0.54549,
                    0.85608
                ],
                [
                    -0.0063,
                    0.99966,
                    0.02535,
                    0.43457
                ],
                [
                    0.54552,
                    0.02468,
                    -0.83774,
                    6.20293
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    -0.14726,
                    0.00564,
                    0.98908,
                    -2.09999
                ],
                [
                    0.01613,
                    0.99986,
                    -0.0033,
                    0.91085
                ],
                [
                    -0.98897,
                    0.01547,
                    -0.14733,
                    0.23186
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    0.42295,
                    -3e-05,
                    -0.90615,
                    3.82167
                ],
                [
                    2e-05,
                    1.0,
                    -2e-05,
                    0.48552
                ],
                [
                    0.90615,
                    -1e-05,
                    0.42295,
                    3.83977
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    0.62952,
                    -0.00015,
                    0.77698,
                    -2.37116
                ],
                [
                    7e-05,
                    1.0,
                    0.00014,
                    0.90168
                ],
                [
                    -0.77698,
                    -3e-05,
                    0.62952,
                    2.42349
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.99902,
                    0.03303,
                    0.02957,
                    1.00662
                ],
                [
                    0.03323,
                    0.99943,
                    0.00625,
                    0.51234
                ],
                [
                    -0.02934,
                    0.00722,
                    -0.99954,
                    3.86314
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.63249,
                    -0.02388,
                    0.7742,
                    2.36877
                ],
                [
                    -0.0455,
                    0.99894,
                    -0.00637,
                    0.86934
                ],
                [
                    -0.77323,
                    -0.03926,
                    -0.63291,
                    7.53094
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    -0.98371,
                    -0.00144,
                    -0.17978,
                    1.79377
                ],
                [
                    -0.00145,
                    1.0,
                    -7e-05,
                    0.45534
                ],
                [
                    0.17978,
                    0.00019,
                    -0.98371,
                    3.99321
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.62047,
                    0.0,
                    -0.78423,
                    -2.16041
                ],
                [
                    4e-05,
                    1.0,
                    3e-05,
                    0.75829
                ],
                [
                    0.78423,
                    -5e-05,
                    0.62047,
                    1.8351
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    -0.12918,
                    -0.0,
                    -0.99162,
                    1.15639
                ],
                [
                    0.0,
                    1.0,
                    -0.0,
                    0.94922
                ],
                [
                    0.99162,
                    -0.0,
                    -0.12918,
                    0.1709
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.58748,
                    -0.0328,
                    -0.80857,
                    -2.45148
                ],
                [
                    -0.04566,
                    0.99893,
                    -0.00735,
                    0.96627
                ],
                [
                    0.80795,
                    0.0326,
                    -0.58835,
                    2.59243
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ]
    ],
    "targets": {
        "004_sugar_box_:0000": [
            [
                -0.68683,
                0.0,
                0.72682,
                0.01812
            ],
            [
                0.0,
                1.0,
                0.0,
                1.02157
            ],
            [
                -0.72682,
                0.0,
                -0.68683,
                -0.29399
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "004_sugar_box_:0001": [
            [
                -0.15468,
                0.0,
                0.98796,
                3.96474
            ],
            [
                0.0,
                1.0,
                0.0,
                0.50232
            ],
            [
                -0.98796,
                0.0,
                -0.15468,
                3.86873
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "010_potted_meat_can_:0000": [
            [
                -0.53863,
                0.0,
                -0.84254,
                3.72584
            ],
            [
                0.0,
                1.0,
                0.0,
                0.45609
            ],
            [
                0.84254,
                0.0,
                -0.53863,
                3.77852
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "005_tomato_soup_can_:0000": [
            [
                -0.53691,
                0.0,
                -0.84364,
                -2.23156
            ],
            [
                0.0,
                1.0,
                0.0,
                0.75749
            ],
            [
                0.84364,
                0.0,
                -0.53691,
                1.87924
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "009_gelatin_box_:0000": [
            [
                -0.55285,
                0.0,
                -0.83328,
                1.02133
            ],
            [
                0.0,
                1.0,
                0.0,
                0.94861
            ],
            [
                0.83328,
                0.0,
                -0.55285,
                -0.26562
            ],
            [
                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_chair_01_:0001",
            null
        ],
        [
            "kitchen_counter_:0000",
            0
        ],
        [
            "kitchen_counter_:0000",
            0
        ],
        [
            "frl_apartment_sofa_:0000",
            null
        ],
        [
            "frl_apartment_chair_01_:0000",
            null
        ]
    ],
    "goal_receptacles": [
        [
            "frl_apartment_table_02_:0000",
            null
        ],
        [
            "frl_apartment_chair_01_:0001",
            null
        ],
        [
            "frl_apartment_chair_01_:0001",
            null
        ],
        [
            "kitchen_counter_:0000",
            0
        ],
        [
            "frl_apartment_table_02_:0000",
            null
        ]
    ]
}