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# Open Vocab Mobile Manipulation episodes
We describe the fields in our OVMM episodes.
## Initial Configuration
- `rigid_objs`: Initial poses of all pickable objects inserted into the scene specified via a 4x4 array
- `start_position`: Position of the agent at the start of the episode.
- `start_rotation`: Orientation of the agent at the start of the episode.
## Goal specification
`object_category`, `start_recep_category`, and `end_recep_category`: These fields specify the OVMM task goal - Move `object_category` from `start_recep_category` to `goal_recep_category`
## Candidate targets
Each target is specified via an `object_id` along with information on `position` and a set of `view_points` (agent poses from where the target is visible).
- `candidate_objects`: object instances belonging to `object_category` on top of a receptacle belonging to `start_recep_category`
- `candidate_objects_hard`: all object instances belonging to `object_category`
- `candidate_start_receps`: all receptacle instances belonging to `start_recep_category`
- `candidate_goal_receps`: all receptacle instances belonging to `goal_recep_category` |