# 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`