{
    "episode_id": "1026",
    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_20.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": {
            "003_cracker_box_:0000": "any_targets|0",
            "008_pudding_box_:0000": "any_targets|1",
            "003_cracker_box_:0001": "any_targets|2",
            "005_tomato_soup_can_:0000": "any_targets|3",
            "007_tuna_fish_can_:0000": "any_targets|4"
        }
    },
    "ao_states": {},
    "rigid_objs": [
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.50064,
                    -0.02827,
                    -0.8652,
                    1.66202
                ],
                [
                    -0.0432,
                    0.99904,
                    -0.00765,
                    0.52166
                ],
                [
                    0.86458,
                    0.03354,
                    -0.50138,
                    -0.49764
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    -0.67539,
                    -0.02046,
                    0.73718,
                    0.39103
                ],
                [
                    -0.00566,
                    0.99973,
                    0.02256,
                    0.87927
                ],
                [
                    -0.73744,
                    0.01106,
                    -0.67532,
                    7.08029
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    0.07096,
                    0.01054,
                    0.99742,
                    0.54904
                ],
                [
                    -0.04582,
                    0.99892,
                    -0.0073,
                    0.81373
                ],
                [
                    -0.99643,
                    -0.04518,
                    0.07136,
                    6.53864
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.81583,
                    0.00399,
                    -0.57827,
                    1.79762
                ],
                [
                    -0.00578,
                    0.99998,
                    -0.00124,
                    0.46593
                ],
                [
                    0.57826,
                    0.00435,
                    0.81584,
                    -0.2976
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    0.29807,
                    0.00206,
                    -0.95454,
                    4.32649
                ],
                [
                    0.00048,
                    1.0,
                    0.00231,
                    0.64346
                ],
                [
                    0.95454,
                    -0.00115,
                    0.29807,
                    1.01506
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    0.99757,
                    0.00033,
                    0.06963,
                    0.50923
                ],
                [
                    -0.00037,
                    1.0,
                    0.00053,
                    0.72223
                ],
                [
                    -0.06963,
                    -0.00055,
                    0.99757,
                    6.70144
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    -0.18521,
                    0.00016,
                    0.9827,
                    3.42728
                ],
                [
                    -0.00095,
                    1.0,
                    -0.00034,
                    0.80458
                ],
                [
                    -0.9827,
                    -0.001,
                    -0.18521,
                    7.35883
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    0.93226,
                    -0.003,
                    0.36178,
                    -1.77185
                ],
                [
                    -0.0059,
                    0.99971,
                    0.0235,
                    0.42377
                ],
                [
                    -0.36175,
                    -0.02404,
                    0.93197,
                    1.78094
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    0.96461,
                    0.00217,
                    0.26369,
                    1.75382
                ],
                [
                    -0.00146,
                    0.99999,
                    -0.00291,
                    0.45693
                ],
                [
                    -0.26369,
                    0.00242,
                    0.9646,
                    -0.62593
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    0.18579,
                    0.01492,
                    0.98248,
                    -1.5879
                ],
                [
                    -0.04595,
                    0.99892,
                    -0.00648,
                    0.52145
                ],
                [
                    -0.98151,
                    -0.04394,
                    0.18628,
                    0.00218
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    -0.61982,
                    0.0,
                    0.78475,
                    1.94383
                ],
                [
                    -0.0,
                    1.0,
                    -0.0,
                    0.42998
                ],
                [
                    -0.78475,
                    -0.0,
                    -0.61982,
                    -0.5214
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    -0.09948,
                    0.00308,
                    -0.99503,
                    4.07806
                ],
                [
                    -0.15678,
                    0.98746,
                    0.01873,
                    0.86951
                ],
                [
                    0.98261,
                    0.15786,
                    -0.09775,
                    6.33782
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    0.96656,
                    0.00027,
                    -0.25644,
                    4.07435
                ],
                [
                    -0.00056,
                    1.0,
                    -0.00105,
                    0.79016
                ],
                [
                    0.25644,
                    0.00116,
                    0.96656,
                    6.56187
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.97072,
                    0.01594,
                    0.23968,
                    -1.68648
                ],
                [
                    -0.01624,
                    0.99987,
                    -0.00072,
                    0.46603
                ],
                [
                    -0.23966,
                    -0.00319,
                    0.97085,
                    0.10875
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "024_bowl.object_config.json",
            [
                [
                    -0.89513,
                    0.00028,
                    -0.44581,
                    0.6231
                ],
                [
                    0.00019,
                    1.0,
                    0.00025,
                    0.73465
                ],
                [
                    0.44581,
                    0.00014,
                    -0.89513,
                    6.76188
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.96053,
                    1e-05,
                    0.27819,
                    1.95516
                ],
                [
                    2e-05,
                    1.0,
                    3e-05,
                    0.48552
                ],
                [
                    -0.27819,
                    3e-05,
                    -0.96053,
                    -0.34431
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    0.99834,
                    -0.0,
                    0.05752,
                    0.53729
                ],
                [
                    0.0,
                    1.0,
                    0.0,
                    0.87655
                ],
                [
                    -0.05752,
                    -0.0,
                    0.99834,
                    7.22635
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    0.75492,
                    0.01986,
                    -0.65551,
                    -1.3795
                ],
                [
                    -0.0059,
                    0.99971,
                    0.02349,
                    0.42377
                ],
                [
                    0.65579,
                    -0.01386,
                    0.75482,
                    1.53461
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    0.8935,
                    -0.0,
                    0.44907,
                    3.77267
                ],
                [
                    -3e-05,
                    1.0,
                    6e-05,
                    1.00477
                ],
                [
                    -0.44907,
                    -7e-05,
                    0.8935,
                    4.68731
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    0.59537,
                    0.02503,
                    -0.80306,
                    3.9356
                ],
                [
                    -0.05154,
                    0.99865,
                    -0.00708,
                    1.04089
                ],
                [
                    0.8018,
                    0.0456,
                    0.59585,
                    4.88962
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "004_sugar_box.object_config.json",
            [
                [
                    -0.91755,
                    0.02445,
                    0.39686,
                    4.04071
                ],
                [
                    0.03636,
                    0.99908,
                    0.02253,
                    1.02219
                ],
                [
                    -0.39595,
                    0.0351,
                    -0.9176,
                    4.35378
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "007_tuna_fish_can.object_config.json",
            [
                [
                    0.75992,
                    -0.00047,
                    0.65001,
                    3.90527
                ],
                [
                    0.00111,
                    1.0,
                    -0.00058,
                    0.64351
                ],
                [
                    -0.65001,
                    0.00116,
                    0.75992,
                    1.29969
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "008_pudding_box.object_config.json",
            [
                [
                    -0.90238,
                    0.0048,
                    -0.43092,
                    0.76197
                ],
                [
                    -0.0059,
                    0.99971,
                    0.02349,
                    0.87927
                ],
                [
                    0.43091,
                    0.02374,
                    -0.90208,
                    5.54293
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    0.00072,
                    -0.0,
                    -1.0,
                    4.0451
                ],
                [
                    0.0,
                    1.0,
                    -0.0,
                    0.64169
                ],
                [
                    1.0,
                    -0.0,
                    0.00072,
                    0.97931
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "002_master_chef_can.object_config.json",
            [
                [
                    -0.92195,
                    1e-05,
                    -0.3873,
                    -1.81205
                ],
                [
                    1e-05,
                    1.0,
                    0.0,
                    0.48541
                ],
                [
                    0.3873,
                    -0.0,
                    -0.92195,
                    0.05554
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    0.47423,
                    1e-05,
                    0.8804,
                    -1.86439
                ],
                [
                    -4e-05,
                    1.0,
                    1e-05,
                    0.42987
                ],
                [
                    -0.8804,
                    -4e-05,
                    0.47423,
                    0.24559
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "005_tomato_soup_can.object_config.json",
            [
                [
                    0.8293,
                    0.01091,
                    0.5587,
                    4.36355
                ],
                [
                    -0.01376,
                    0.9999,
                    0.0009,
                    0.67749
                ],
                [
                    -0.55864,
                    -0.00843,
                    0.82937,
                    0.90081
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "010_potted_meat_can.object_config.json",
            [
                [
                    0.89955,
                    3e-05,
                    -0.43682,
                    1.89908
                ],
                [
                    -6e-05,
                    1.0,
                    -6e-05,
                    0.4569
                ],
                [
                    0.43682,
                    8e-05,
                    0.89955,
                    -0.2627
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "009_gelatin_box.object_config.json",
            [
                [
                    0.47677,
                    -0.0,
                    0.87903,
                    -1.4246
                ],
                [
                    0.0,
                    1.0,
                    0.0,
                    0.41926
                ],
                [
                    -0.87903,
                    0.0,
                    0.47677,
                    2.17511
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ],
        [
            "003_cracker_box.object_config.json",
            [
                [
                    0.85016,
                    0.03349,
                    -0.52545,
                    3.43516
                ],
                [
                    -0.04416,
                    0.99899,
                    -0.00778,
                    1.04091
                ],
                [
                    0.52466,
                    0.02982,
                    0.85079,
                    4.85703
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ]
        ]
    ],
    "targets": {
        "003_cracker_box_:0000": [
            [
                0.74765,
                0.0,
                0.6641,
                0.86304
            ],
            [
                0.0,
                1.0,
                0.0,
                0.96582
            ],
            [
                -0.6641,
                0.0,
                0.74765,
                7.16253
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "008_pudding_box_:0000": [
            [
                -0.7448,
                0.0,
                -0.66729,
                0.63225
            ],
            [
                0.0,
                1.0,
                0.0,
                0.87854
            ],
            [
                0.66729,
                0.0,
                -0.7448,
                5.95658
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "003_cracker_box_:0001": [
            [
                0.70708,
                0.0,
                0.70713,
                -1.39308
            ],
            [
                0.0,
                1.0,
                0.0,
                0.51032
            ],
            [
                -0.70713,
                0.0,
                0.70708,
                2.40288
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "005_tomato_soup_can_:0000": [
            [
                -0.14817,
                0.0,
                0.98896,
                -1.9418
            ],
            [
                0.0,
                1.0,
                0.0,
                0.46513
            ],
            [
                -0.98896,
                0.0,
                -0.14817,
                0.04409
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        "007_tuna_fish_can_:0000": [
            [
                0.86996,
                0.0,
                0.49312,
                0.51428
            ],
            [
                0.0,
                1.0,
                0.0,
                0.72333
            ],
            [
                -0.49312,
                0.0,
                0.86996,
                6.8438
            ],
            [
                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_:0000",
            null
        ],
        [
            "kitchen_counter_:0000",
            0
        ],
        [
            "kitchen_counter_:0000",
            0
        ],
        [
            "frl_apartment_chair_01_:0000",
            null
        ],
        [
            "frl_apartment_tvstand_:0000",
            null
        ]
    ],
    "goal_receptacles": [
        [
            "kitchen_counter_:0000",
            0
        ],
        [
            "kitchen_counter_:0000",
            0
        ],
        [
            "frl_apartment_sofa_:0000",
            null
        ],
        [
            "frl_apartment_chair_01_:0001",
            null
        ],
        [
            "kitchen_counter_:0000",
            0
        ]
    ]
}