diff --git "a/meta/episodes/task-0006/episode_00060630.json" "b/meta/episodes/task-0006/episode_00060630.json"
new file mode 100644--- /dev/null
+++ "b/meta/episodes/task-0006/episode_00060630.json"
@@ -0,0 +1,491 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_lower_task_hiding_Easter_eggs_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"easter_egg.n.01_1\": \"easter_egg_181\", \"easter_egg.n.01_2\": \"easter_egg_180\", \"easter_egg.n.01_3\": \"easter_egg_179\", \"lawn.n.01_1\": \"lawn_aztwla_0\", \"tree.n.01_1\": \"tree_wtyipq_6\", \"tree.n.01_10\": \"tree_wtyipq_2\", \"tree.n.01_11\": \"tree_flkzbo_2\", \"tree.n.01_12\": \"tree_dyymaq_2\", \"tree.n.01_13\": \"tree_gmzozb_1\", \"tree.n.01_14\": \"tree_rrhqpw_4\", \"tree.n.01_15\": \"tree_wtyipq_5\", \"tree.n.01_16\": \"tree_wtyipq_0\", \"tree.n.01_17\": \"tree_flkzbo_1\", \"tree.n.01_18\": \"tree_gmzozb_0\", \"tree.n.01_19\": \"tree_rrhqpw_2\", \"tree.n.01_2\": \"tree_wtyipq_1\", \"tree.n.01_20\": \"tree_flkzbo_0\", \"tree.n.01_21\": \"tree_wtyipq_4\", \"tree.n.01_22\": \"tree_rrhqpw_5\", \"tree.n.01_23\": \"tree_gmzozb_3\", \"tree.n.01_24\": \"tree_dyymaq_0\", \"tree.n.01_25\": \"tree_wtyipq_8\", \"tree.n.01_26\": \"tree_dyymaq_1\", \"tree.n.01_3\": \"tree_gmzozb_4\", \"tree.n.01_4\": \"tree_gmzozb_2\", \"tree.n.01_5\": \"tree_rrhqpw_0\", \"tree.n.01_6\": \"tree_wtyipq_3\", \"tree.n.01_7\": \"tree_rrhqpw_3\", \"tree.n.01_8\": \"tree_wtyipq_7\", \"tree.n.01_9\": \"tree_rrhqpw_1\", \"wicker_basket.n.01_1\": \"wicker_basket_178\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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\"bddl_object_scope\": null, \"expected_file_hash\": \"e38889bb5ce40d3759a95399922ba776\"}}, \"bush_kyghri_8\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_8\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"e38889bb5ce40d3759a95399922ba776\"}}, \"bush_lfyqkj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_0\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c83f1e4711c0092330660c2c3cdd9a96\"}}, \"bush_lfyqkj_1\": 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 \"pos\": [\n                            4.887538909912109,\n                            1.792831301689148,\n                            0.4728570878505707\n                        ],\n                        \"ori\": [\n                            0.0022458434104919434,\n                            -0.00020638108253479004,\n                            0.9999974966049194,\n                            4.114583134651184e-06\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_uofiqj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": 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0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_feolie_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.2406875193119049,\n                            3.329909324645996,\n                            2.546888589859009\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_isizwh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.255151748657227,\n                            5.478974342346191,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_kbxtoc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.136273384094238,\n                            1.377645492553711,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n           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              0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_hgonwj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.910258173942566,\n                            7.547131061553955,\n                            1.4864343404769897\n                        ],\n                        \"ori\": [\n                            -0.5,\n                            0.5,\n                            0.5000000596046448,\n                            -0.4999999403953552\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_rypeha_0\": {\n                    \"is_asleep\": false,\n                    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              -2.5964516225940315e-06,\n                            0.9999979734420776\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"door_bexenl_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.886465072631836,\n                            2.3801634311676025,\n                            1.1881227493286133\n                        ],\n                        \"ori\": [\n                            6.518308168779186e-07,\n                            3.084875061176717e-05,\n                            0.7104465365409851,\n                            -0.7037512063980103\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n 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-3.610969301348632e-08,\n                            -0.4130469262599945,\n                            0.9107097387313843\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.651690661907196,\n                            5.894435405731201,\n                            2.1672098636627197\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.651690661907196,\n                            4.915513515472412,\n                            2.1672098636627197\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.907909095287323,\n                            0.37542960047721863,\n                            2.165252923965454\n                        ],\n                        \"ori\": [\n                            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\"expected_file_hash\": \"5dbc7fb82b05e2e9ccef28f8fe6adfb8\"\n                            }\n                        },\n                        \"bush_cwsigt_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n     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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5dbc7fb82b05e2e9ccef28f8fe6adfb8\"\n                            }\n                        },\n                        \"bush_cwsigt_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_7\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5dbc7fb82b05e2e9ccef28f8fe6adfb8\"\n                            }\n                        },\n                        \"bush_cwsigt_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_8\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                         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                             \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e38889bb5ce40d3759a95399922ba776\"\n                            }\n                        },\n                        \"bush_kyghri_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_7\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                          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\"name\": \"bush_lfyqkj_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c83f1e4711c0092330660c2c3cdd9a96\"\n                            }\n                        },\n                        \"bush_lfyqkj_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c83f1e4711c0092330660c2c3cdd9a96\"\n                            }\n                        },\n                   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\"expected_file_hash\": \"c83f1e4711c0092330660c2c3cdd9a96\"\n                            }\n                        },\n                        \"bush_lfyqkj_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n     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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c83f1e4711c0092330660c2c3cdd9a96\"\n                            }\n                        },\n                        \"bush_lfyqkj_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_6\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c83f1e4711c0092330660c2c3cdd9a96\"\n                            }\n                        },\n                        \"bush_oedeqi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_oedeqi_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"oedeqi\",\n                                \"scale\": [\n                         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    \"args\": {\n                                \"name\": \"garden_chair_cottya_0\",\n                                \"category\": \"garden_chair\",\n                                \"model\": \"cottya\",\n                                \"scale\": [\n                                    1.0000277757644653,\n                                    1.0000189542770386,\n                                    0.9999681711196899\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"46e8ab0a8c085810c06f0f2a22cedd85\"\n                            }\n                        },\n                        \"garden_chair_cottya_1\": {\n                        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\"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7b23acf24130333c26ba5b1ca2bab40\"\n                            }\n                        },\n                        \"ceilings_isizwh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_isizwh_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"isizwh\",\n                                \"scale\": [\n                                    0.9999997019767761,\n                                    0.9999985098838806,\n                                    0.9999061226844788\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"985f9dd0af093515c1f0295728f006dd\"\n                            }\n                        },\n                        \"ceilings_kbxtoc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_kbxtoc_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"kbxtoc\",\n                                \"scale\": [\n                                    0.9999968409538269,\n                 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\"model\": \"sbkyof\",\n                                \"scale\": [\n                                    1.0000014305114746,\n                                    0.9999884366989136,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"dfdc76e52abc85fbbb5acb4173452c45\"\n                            }\n                        },\n                        \"ceilings_vkfllw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                 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          }\n                        },\n                        \"decorative_sign_xzsmxq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"decorative_sign_xzsmxq_0\",\n                                \"category\": \"decorative_sign\",\n                                \"model\": \"xzsmxq\",\n                                \"scale\": [\n                                    0.9994317293167114,\n                                    0.9999769926071167,\n                                    1.0000669956207275\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_bexenl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_bexenl_0\",\n                                \"category\": \"door\",\n                                \"model\": \"bexenl\",\n                                \"scale\": [\n                                    0.9997830986976624,\n                                    1.0000373125076294,\n                                    0.9999975562095642\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\",\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_bexenl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_bexenl_1\",\n                                \"category\": \"door\",\n                                \"model\": \"bexenl\",\n                                \"scale\": [\n                                    0.9984117150306702,\n                                    1.0000373125076294,\n                                    0.9999975562095642\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_vudhlc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_0\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d3726776c3c24015ec736d607b16e7c\"\n                            }\n                        },\n                        \"door_vudhlc_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_1\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d3726776c3c24015ec736d607b16e7c\"\n                            }\n                        },\n                        \"door_vudhlc_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_2\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d3726776c3c24015ec736d607b16e7c\"\n                            }\n                        },\n                        \"door_vudhlc_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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 },\n                        \"downlight_pawfmw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_10\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_10\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_11\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_12\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_13\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_13\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_14\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_14\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_15\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_15\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_16\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_16\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_17\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_17\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_4\",\n                                \"category\": 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\"downlight_pawfmw_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_8\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_9\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pxrmnt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pxrmnt_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pxrmnt\",\n                                \"scale\": [\n                                    1.0003904104232788,\n                                    0.999914824962616,\n                                    1.0003902912139893\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pxrmnt_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pxrmnt_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pxrmnt\",\n                                \"scale\": [\n                                    1.0003904104232788,\n                                    0.999914824962616,\n                                    1.0003902912139893\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pxrmnt_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pxrmnt_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pxrmnt\",\n                                \"scale\": [\n                                    1.0003904104232788,\n                                    0.999914824962616,\n                                    1.0003902912139893\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"driveway_umalys_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"driveway_umalys_0\",\n                                \"category\": \"driveway\",\n                                \"model\": \"umalys\",\n                                \"scale\": [\n                                    0.9999949932098389,\n                                    1.0000005960464478,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7eef1992a11fa2cd44bade761c2c0e7a\"\n                            }\n                        },\n                        \"drop_in_sink_hecjnt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"drop_in_sink_hecjnt_0\",\n                                \"category\": \"drop_in_sink\",\n                                \"model\": \"hecjnt\",\n                                \"scale\": [\n                                    0.9999883770942688,\n                                    1.0000587701797485,\n                                    0.9999573230743408\n                                ],\n                                \"fixed_base\": 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    ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_2\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n 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\"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_kvdqep_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_kvdqep_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"kvdqep\",\n                                \"scale\": [\n                                    0.9996340274810791,\n                                    0.9999764561653137,\n                                    0.9999943971633911\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"487c6eb0f1a4e4f98724ac0a88157396\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a19aa0a1d8b37c6970d72bfe9597916b\"\n                            }\n                        },\n                        \"floors_ghetev_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_ghetev_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"ghetev\",\n                                \"scale\": [\n                                    0.9999978542327881,\n                                    1.0000015497207642,\n                                    0.9999032616615295\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"40fb7c7f49fae5db9a65d16a217160ce\"\n                            }\n                        },\n                        \"floors_irvmpb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_irvmpb_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"irvmpb\",\n                                \"scale\": [\n                                    1.0000075101852417,\n                                    1.0000039339065552,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"34f6a650512c983848541b755946f794\"\n                            }\n                        },\n                        \"floors_nbxnpk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nbxnpk_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nbxnpk\",\n                                \"scale\": [\n                                    0.9999986290931702,\n                                    1.000006079673767,\n                                    1.0000001192092896\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_ogynye_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_ogynye_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"ogynye\",\n                                \"scale\": [\n                                    0.9999971389770508,\n                                    1.0000039339065552,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"21c27bb8b9ab6160bdff4d2f3b45085d\"\n                            }\n                        },\n                        \"floors_qadhjb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_qadhjb_0\",\n                                \"category\": \"floors\",\n                                \"model\": 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\"name\": \"floors_sdejoi_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"sdejoi\",\n                                \"scale\": [\n                                    0.9999986290931702,\n                                    0.9999680519104004,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_slmyas_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_slmyas_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"slmyas\",\n                                \"scale\": [\n                                    0.9999943375587463,\n                                    0.9999828934669495,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fb30835c9d273c8f369687173fae5d56\"\n                            }\n                        },\n                        \"floors_ulujpr_0\": {\n                            \"class_module\": 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        \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_xkkysf_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"xkkysf\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999807476997375,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_xorxro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_xorxro_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"xorxro\",\n                                \"scale\": [\n                                    0.9999860525131226,\n                                    0.9999966025352478,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_zqjkvm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zqjkvm_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zqjkvm\",\n                                \"scale\": [\n                                    1.0000038146972656,\n                                    1.0000016689300537,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garage_door_prdjyt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garage_door_prdjyt_0\",\n                                \"category\": \"garage_door\",\n                                \"model\": \"prdjyt\",\n                                \"scale\": [\n                                    1.0000101327896118,\n                                    0.9999930262565613,\n                                    0.9999902844429016\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_light_qyfrwj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_0\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"04237ca8d5186c9e9f9349495a3b81e6\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_1\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"04237ca8d5186c9e9f9349495a3b81e6\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_2\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"04237ca8d5186c9e9f9349495a3b81e6\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_3\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"04237ca8d5186c9e9f9349495a3b81e6\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_4\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"04237ca8d5186c9e9f9349495a3b81e6\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_5\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"04237ca8d5186c9e9f9349495a3b81e6\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_6\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"04237ca8d5186c9e9f9349495a3b81e6\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_7\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"04237ca8d5186c9e9f9349495a3b81e6\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_8\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"04237ca8d5186c9e9f9349495a3b81e6\"\n                   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\"bddl_object_scope\": null\n                            }\n                        },\n                        \"hall_tree_upkvgr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hall_tree_upkvgr_0\",\n                                \"category\": \"hall_tree\",\n                                \"model\": \"upkvgr\",\n                                \"scale\": [\n                                    1.0000102519989014,\n                                    0.9999994039535522,\n                                    0.9999828338623047\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                     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       \"category\": \"room_light\",\n                                \"model\": \"kiuayi\",\n                                \"scale\": [\n                                    0.999922513961792,\n                                    0.999922513961792,\n                                    0.9999570250511169\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_frlxgz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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      }\n                        },\n                        \"track_light_ltnnrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"track_light_ltnnrc_0\",\n                                \"category\": \"track_light\",\n                                \"model\": \"ltnnrc\",\n                                \"scale\": [\n                                    1.0000474452972412,\n                                    0.9999818801879883,\n                                    1.0001263618469238\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"track_light_ltnnrc_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"track_light_ltnnrc_1\",\n                                \"category\": \"track_light\",\n                                \"model\": \"ltnnrc\",\n                                \"scale\": [\n                                    1.0000474452972412,\n                                    0.9999818801879883,\n                                    1.0001263618469238\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_mbhxbg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_mbhxbg_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"mbhxbg\",\n                                \"scale\": [\n                                    0.9992985725402832,\n                                    1.0001024007797241,\n                                    0.9997308850288391\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_tv_dxyfxf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_dxyfxf_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"dxyfxf\",\n                                \"scale\": [\n                                    1.0007919073104858,\n                                    1.0000017881393433,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_nujxel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_nujxel_0\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"nujxel\",\n                                \"scale\": [\n                                    1.0000932216644287,\n                                    1.0000927448272705,\n                                    0.9969304800033569\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_abtbfo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_abtbfo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"abtbfo\",\n                                \"scale\": [\n                                    0.999961793422699,\n                                    1.0000077486038208,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d2c8db00f1dcfd7d31f23e416e80f668\"\n                            }\n                        },\n                        \"walls_bjekee_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bjekee_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bjekee\",\n                                \"scale\": [\n                                    0.9999438524246216,\n                                    1.0000054836273193,\n                                    1.000013828277588\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"aeb9ba5c736c81fdd6c95bf7f1fa7ad6\"\n                            }\n                        },\n                        \"walls_buhmrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_buhmrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"buhmrc\",\n                                \"scale\": [\n                 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               \"scale\": [\n                                    1.0000461339950562,\n                                    0.999961793422699,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e88f6330c20edc4433a2bf71c6af7978\"\n                            }\n                        },\n                        \"walls_cvdpaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cvdpaq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cvdpaq\",\n                                \"scale\": [\n                                    0.9999979734420776,\n                                    0.9999068975448608,\n                                    1.000015377998352\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0cf095598eb7cf2574a2a9b5213c0120\"\n                            }\n                        },\n                        \"walls_cxsmhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cxsmhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cxsmhr\",\n                                \"scale\": [\n                                    1.000010371208191,\n                                    0.9997971057891846,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"01d260c54777499388a5e5fb29b7e622\"\n                            }\n                        },\n                        \"walls_dewyls_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dewyls_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dewyls\",\n                                \"scale\": [\n                                    1.0000096559524536,\n                                    0.9997960329055786,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a0f7b2a3d7a0d61ed6db4e20175d0d52\"\n                            }\n                        },\n                        \"walls_dlfarz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dlfarz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dlfarz\",\n                                \"scale\": [\n                                    0.9999517202377319,\n                                    0.999993085861206,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"267f032eef8d7030d0bab40f4438e240\"\n                            }\n                        },\n                        \"walls_epketb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_epketb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"epketb\",\n                                \"scale\": [\n                                    0.9999929666519165,\n                                    0.9999200701713562,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1c3c838463bc6529eaca3d1fa37e33ab\"\n                            }\n                        },\n                        \"walls_fwsbwf_0\": {\n                            \"class_module\": 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{\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gishpf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gishpf\",\n                                \"scale\": [\n                                    0.9998095035552979,\n                                    0.9999909996986389,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"393a3e9a8d1325b1664d49c59e00a59c\"\n                            }\n                        },\n                        \"walls_hcbqvq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hcbqvq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hcbqvq\",\n                                \"scale\": [\n                                    0.9998935461044312,\n                                    0.9998812675476074,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0a9b8c7bd29bd2114ac506a56d13023c\"\n                            }\n                        },\n                        \"walls_jemunw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jemunw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jemunw\",\n                                \"scale\": [\n                                    0.9999935030937195,\n                                    0.9997928738594055,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a5c2d0cc0cebc5a0e97e8a54410d1fb7\"\n                            }\n                        },\n                        \"walls_jglkyp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jglkyp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jglkyp\",\n                                \"scale\": [\n                                    0.9999024271965027,\n                                    1.0000457763671875,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"51d20aa994a890be0a316aa5664baf97\"\n                            }\n                        },\n                        \"walls_jnbgxj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jnbgxj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jnbgxj\",\n                                \"scale\": [\n                                    0.9999818205833435,\n                                    1.000158429145813,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"920393260671f948e7d25d57fd35c339\"\n                            }\n                        },\n                        \"walls_jzwmhx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jzwmhx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jzwmhx\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.9999966025352478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1d044ecde3cfed4e7950001476cf2e13\"\n                            }\n                        },\n                        \"walls_lblwvg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lblwvg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lblwvg\",\n                                \"scale\": [\n                                    0.999974250793457,\n                                    0.9998873472213745,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"31a25d77050d9df82479669169fa14dd\"\n                            }\n                        },\n                        \"walls_lovfhw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lovfhw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lovfhw\",\n                                \"scale\": [\n                                    0.9998873472213745,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"84f518c09dac57ac3bce7642da5c5151\"\n                            }\n                        },\n                        \"walls_mgumxz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgumxz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgumxz\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.999988853931427,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6ffaaafac0723532cb12b6d3c7466479\"\n                            }\n                        },\n                        \"walls_mgvxov_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgvxov_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgvxov\",\n                                \"scale\": [\n                                    0.9998886585235596,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0b5e185874fa78c45aa5def8d48d4686\"\n                            }\n                        },\n                        \"walls_miltge_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_miltge_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"miltge\",\n                                \"scale\": [\n                                    1.0000001192092896,\n                                    0.9999647736549377,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\"\n                            }\n                        },\n                        \"walls_mkgplc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mkgplc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mkgplc\",\n                                \"scale\": [\n                                    1.0000089406967163,\n                                    1.0001459121704102,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bc42054c49e5ba7b0acaf846f9f1976c\"\n                            }\n                        },\n                        \"walls_mwlvfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mwlvfb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mwlvfb\",\n                                \"scale\": [\n                                    1.0000306367874146,\n                                    1.0001626014709473,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d66b7521a0a5e91116c0c4f8ef7a267c\"\n                            }\n                        },\n                        \"walls_oiagxk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oiagxk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oiagxk\",\n                                \"scale\": [\n                                    0.9999501705169678,\n                                    1.0000206232070923,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0349dd75228c1a534853caf184e0e73f\"\n                            }\n                        },\n                        \"walls_oqrbxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oqrbxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oqrbxo\",\n                                \"scale\": [\n                                    1.000234842300415,\n                                    1.0000065565109253,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1a64df8c5c7e848230ae36435c76ed1d\"\n                            }\n                        },\n                        \"walls_owxeej_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_owxeej_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"owxeej\",\n                                \"scale\": [\n                                    0.9999358654022217,\n                                    1.000019907951355,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"84f02350fa312f29224d46048ad0fd58\"\n                            }\n                        },\n                        \"walls_paarsl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_paarsl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"paarsl\",\n                                \"scale\": [\n                                    0.999906599521637,\n                                    1.0000128746032715,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"11fa687a13b59d0c43196761a127277d\"\n                            }\n                        },\n                        \"walls_pmygxs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d412d642ddd611b8130cc44fc4f59555\"\n                            }\n                        },\n                        \"walls_xyrbgy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xyrbgy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xyrbgy\",\n                                \"scale\": [\n                                    1.0,\n                                    0.9999845027923584,\n                                    1.0000032186508179\n                                ],\n                                \"fixed_base\": true,\n 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3.36807918548584,\n                                    3.002685070037842\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n                            }\n                        },\n                        \"easter_egg_180\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"easter_egg_180\",\n                                \"category\": \"easter_egg\",\n                                \"model\": \"rxwfse\",\n                                \"scale\": [\n                                    2.734586000442505,\n                              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                \"bddl_object_scope\": null\n                }\n            },\n            \"bush_kyghri_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_7\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"e38889bb5ce40d3759a95399922ba776\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_kyghri_8\": {\n             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\"args\": {\n                    \"name\": \"tree_flkzbo_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"flkzbo\",\n                    \"scale\": [\n                        0.7470294237136841,\n                        0.747040867805481,\n                        0.7470352649688721\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1f33cacbd82537b16ba301263757f75\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_flkzbo_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_flkzbo_2\",\n                    \"category\": \"tree\",\n                    \"model\": \"flkzbo\",\n                    \"scale\": [\n                        0.7470294237136841,\n                        0.747040867805481,\n                        0.7470352649688721\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1f33cacbd82537b16ba301263757f75\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_gmzozb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_gmzozb_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"gmzozb\",\n                    \"scale\": [\n                        0.48671355843544006,\n                        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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"b3173bb379725a4e879e71cc29125f1b\"\n                }\n            },\n            \"decorative_sign_rypeha_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_rypeha_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"rypeha\",\n                    \"scale\": [\n                        0.9984210729598999,\n                        1.0001134872436523,\n                        1.0001660585403442\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": 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        \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_14\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_14\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_15\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_15\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_16\": {\n                \"class_module\": 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   \"args\": {\n                    \"name\": \"downlight_pawfmw_17\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_2\",\n                    \"category\": 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        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_4\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_5\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_6\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_7\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": 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\"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ae6b665db268cf056315694ccabccaa\"\n                }\n            },\n            \"sofa_frlxgz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_frlxgz_0\",\n                    \"category\": \"sofa\",\n                    \"model\": \"frlxgz\",\n                    \"scale\": [\n                        0.9999723434448242,\n                        1.0000096559524536,\n                        1.0000298023223877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    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\"category\": \"track_light\",\n                    \"model\": \"ltnnrc\",\n                    \"scale\": [\n                        1.0000474452972412,\n                        0.9999818801879883,\n                        1.0001263618469238\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"b3b0389c845dc8080fcbbe3f4bf62244\"\n                }\n            },\n            \"track_light_ltnnrc_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"track_light_ltnnrc_1\",\n                    \"category\": \"track_light\",\n                    \"model\": \"ltnnrc\",\n                    \"scale\": [\n                        1.0000474452972412,\n                        0.9999818801879883,\n                        1.0001263618469238\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"b3b0389c845dc8080fcbbe3f4bf62244\"\n                }\n            },\n            \"wall_mounted_tv_dxyfxf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_tv_dxyfxf_0\",\n                    \"category\": \"wall_mounted_tv\",\n                    \"model\": \"dxyfxf\",\n                    \"scale\": [\n                        1.0007919073104858,\n                        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\"expected_file_hash\": \"a0f7b2a3d7a0d61ed6db4e20175d0d52\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_dlfarz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_dlfarz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"dlfarz\",\n                    \"scale\": [\n                        0.9999517202377319,\n                        0.999993085861206,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"267f032eef8d7030d0bab40f4438e240\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_epketb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_epketb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"epketb\",\n                    \"scale\": [\n                        0.9999929666519165,\n                        0.9999200701713562,\n                        0.9999359250068665\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1c3c838463bc6529eaca3d1fa37e33ab\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fwsbwf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fwsbwf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fwsbwf\",\n                    \"scale\": [\n                        1.0001320838928223,\n                        0.9999893307685852,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d819743f91b5a9f20d7986f8350d2893\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gishpf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gishpf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gishpf\",\n                    \"scale\": [\n                        0.9998095035552979,\n                        0.9999909996986389,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"393a3e9a8d1325b1664d49c59e00a59c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hcbqvq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hcbqvq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hcbqvq\",\n                    \"scale\": [\n                        0.9998935461044312,\n                        0.9998812675476074,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0a9b8c7bd29bd2114ac506a56d13023c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jemunw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jemunw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jemunw\",\n                    \"scale\": [\n                        0.9999935030937195,\n                        0.9997928738594055,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a5c2d0cc0cebc5a0e97e8a54410d1fb7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jglkyp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jglkyp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jglkyp\",\n                    \"scale\": [\n                        0.9999024271965027,\n                        1.0000457763671875,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"51d20aa994a890be0a316aa5664baf97\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jnbgxj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jnbgxj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jnbgxj\",\n                    \"scale\": [\n                        0.9999818205833435,\n                        1.000158429145813,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"920393260671f948e7d25d57fd35c339\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jzwmhx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jzwmhx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jzwmhx\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999966025352478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1d044ecde3cfed4e7950001476cf2e13\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lblwvg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lblwvg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lblwvg\",\n                    \"scale\": [\n                        0.999974250793457,\n                        0.9998873472213745,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"31a25d77050d9df82479669169fa14dd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lovfhw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lovfhw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lovfhw\",\n                    \"scale\": [\n                        0.9998873472213745,\n                        0.9998785257339478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"84f518c09dac57ac3bce7642da5c5151\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgumxz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgumxz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgumxz\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.999988853931427,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6ffaaafac0723532cb12b6d3c7466479\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgvxov_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgvxov_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgvxov\",\n                    \"scale\": [\n                        0.9998886585235596,\n                        0.9998785257339478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0b5e185874fa78c45aa5def8d48d4686\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_miltge_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_miltge_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"miltge\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        0.9999647736549377,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mkgplc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mkgplc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mkgplc\",\n                    \"scale\": [\n           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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d66b7521a0a5e91116c0c4f8ef7a267c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oiagxk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oiagxk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oiagxk\",\n                    \"scale\": [\n                        0.9999501705169678,\n                        1.0000206232070923,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0349dd75228c1a534853caf184e0e73f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oqrbxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oqrbxo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oqrbxo\",\n                    \"scale\": [\n                        1.000234842300415,\n                        1.0000065565109253,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1a64df8c5c7e848230ae36435c76ed1d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_owxeej_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_owxeej_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"owxeej\",\n                    \"scale\": [\n                        0.9999358654022217,\n                        1.000019907951355,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"84f02350fa312f29224d46048ad0fd58\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_paarsl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_paarsl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"paarsl\",\n                    \"scale\": [\n                        0.999906599521637,\n                        1.0000128746032715,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"11fa687a13b59d0c43196761a127277d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pmygxs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pmygxs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pmygxs\",\n                    \"scale\": [\n                        0.999999463558197,\n                        0.9998095035552979,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"67b2e4f360067c0401db4274933180e5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qeofms_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qeofms_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qeofms\",\n                    \"scale\": [\n                        0.9999974966049194,\n                        0.999953031539917,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fad3c5eea73a8ebaf5b69fb4d5efbaea\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rrabdp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rrabdp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rrabdp\",\n                    \"scale\": [\n                        0.9999839663505554,\n                        1.000156283378601,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c41dd37bac9db56b44446f5281bf58d9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uiloru_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uiloru_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uiloru\",\n                    \"scale\": [\n                        0.9999812245368958,\n                        0.9997938871383667,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"608ec2398c9b50659ba475509fc4349d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_umqqmh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_umqqmh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"umqqmh\",\n                    \"scale\": [\n                        1.000093698501587,\n                        0.9998928904533386,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"db7229d1035b3c78f0c0ff6fabbe4657\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_upttgq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_upttgq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"upttgq\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        1.0000076293945312,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0c30177bde974be92ce6fa7c45bc426d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vxveul_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vxveul_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vxveul\",\n                    \"scale\": [\n                        0.9999592900276184,\n                        1.0000137090682983,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"66182c73b300e8b178bed38766148bd5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_weybsr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_weybsr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"weybsr\",\n                    \"scale\": [\n                        1.0000098943710327,\n                        0.9999802112579346,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"da426a28f5e10b5f6075b05eb8d1e82f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xsubff_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xsubff_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xsubff\",\n                    \"scale\": [\n                        1.0000114440917969,\n                        1.0000354051589966,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d412d642ddd611b8130cc44fc4f59555\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xyrbgy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xyrbgy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xyrbgy\",\n                    \"scale\": [\n                        1.0,\n                        0.9999845027923584,\n                        1.0000032186508179\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d28c881cc6d2aa5e53ec80abd55e53f1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ylpkth_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ylpkth_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ylpkth\",\n                    \"scale\": [\n                        1.0000102519989014,\n                        1.000156283378601,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cba77dc2d9aa27129d0f86c752fda092\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zdhaff_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zdhaff_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zdhaff\",\n                    \"scale\": [\n                        1.0000907182693481,\n                        1.0000133514404297,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wicker_basket_178\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wicker_basket_178\",\n                    \"category\": \"wicker_basket\",\n                    \"model\": \"drxfmr\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c81496cb8e4afdf0d9a7340f9d0e40d7\"\n                }\n            },\n            \"easter_egg_179\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"easter_egg_179\",\n                    \"category\": \"easter_egg\",\n                    \"model\": \"rxwfse\",\n                    \"scale\": [\n                        2.734586000442505,\n                        3.36807918548584,\n                        3.002685070037842\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n                }\n            },\n            \"easter_egg_180\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"easter_egg_180\",\n                    \"category\": \"easter_egg\",\n                    \"model\": \"rxwfse\",\n                    \"scale\": [\n                        2.734586000442505,\n                        3.36807918548584,\n                        3.002685070037842\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n                }\n            },\n            \"easter_egg_181\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"easter_egg_181\",\n                    \"category\": \"easter_egg\",\n                    \"model\": \"rxwfse\",\n                    \"scale\": [\n                        2.734586000442505,\n                        3.36807918548584,\n                        3.002685070037842\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n                }\n            },\n            \"robot_r1\": {\n                \"class_module\": \"omnigibson.robots.r1pro\",\n                \"class_name\": \"R1Pro\",\n                \"args\": {\n                    \"name\": \"robot_r1\",\n                    \"self_collisions\": true,\n                    \"controller_config\": {\n                        \"arm_left\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"arm_right\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6109,
+    "num_samples": 6109,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "easter_egg.n.01_1_real",
+        "easter_egg.n.01_1_pos",
+        "easter_egg.n.01_1_ori_cos",
+        "easter_egg.n.01_1_ori_sin",
+        "easter_egg.n.01_1_in_gripper_left",
+        "easter_egg.n.01_1_in_gripper_right",
+        "easter_egg.n.01_2_real",
+        "easter_egg.n.01_2_pos",
+        "easter_egg.n.01_2_ori_cos",
+        "easter_egg.n.01_2_ori_sin",
+        "easter_egg.n.01_2_in_gripper_left",
+        "easter_egg.n.01_2_in_gripper_right",
+        "easter_egg.n.01_3_real",
+        "easter_egg.n.01_3_pos",
+        "easter_egg.n.01_3_ori_cos",
+        "easter_egg.n.01_3_ori_sin",
+        "easter_egg.n.01_3_in_gripper_left",
+        "easter_egg.n.01_3_in_gripper_right",
+        "wicker_basket.n.01_1_real",
+        "wicker_basket.n.01_1_pos",
+        "wicker_basket.n.01_1_ori_cos",
+        "wicker_basket.n.01_1_ori_sin",
+        "wicker_basket.n.01_1_in_gripper_left",
+        "wicker_basket.n.01_1_in_gripper_right",
+        "lawn.n.01_1_real",
+        "lawn.n.01_1_pos",
+        "lawn.n.01_1_ori_cos",
+        "lawn.n.01_1_ori_sin",
+        "lawn.n.01_1_in_gripper_left",
+        "lawn.n.01_1_in_gripper_right",
+        "tree.n.01_1_real",
+        "tree.n.01_1_pos",
+        "tree.n.01_1_ori_cos",
+        "tree.n.01_1_ori_sin",
+        "tree.n.01_1_in_gripper_left",
+        "tree.n.01_1_in_gripper_right",
+        "tree.n.01_2_real",
+        "tree.n.01_2_pos",
+        "tree.n.01_2_ori_cos",
+        "tree.n.01_2_ori_sin",
+        "tree.n.01_2_in_gripper_left",
+        "tree.n.01_2_in_gripper_right",
+        "tree.n.01_3_real",
+        "tree.n.01_3_pos",
+        "tree.n.01_3_ori_cos",
+        "tree.n.01_3_ori_sin",
+        "tree.n.01_3_in_gripper_left",
+        "tree.n.01_3_in_gripper_right",
+        "tree.n.01_4_real",
+        "tree.n.01_4_pos",
+        "tree.n.01_4_ori_cos",
+        "tree.n.01_4_ori_sin",
+        "tree.n.01_4_in_gripper_left",
+        "tree.n.01_4_in_gripper_right",
+        "tree.n.01_5_real",
+        "tree.n.01_5_pos",
+        "tree.n.01_5_ori_cos",
+        "tree.n.01_5_ori_sin",
+        "tree.n.01_5_in_gripper_left",
+        "tree.n.01_5_in_gripper_right",
+        "tree.n.01_6_real",
+        "tree.n.01_6_pos",
+        "tree.n.01_6_ori_cos",
+        "tree.n.01_6_ori_sin",
+        "tree.n.01_6_in_gripper_left",
+        "tree.n.01_6_in_gripper_right",
+        "tree.n.01_7_real",
+        "tree.n.01_7_pos",
+        "tree.n.01_7_ori_cos",
+        "tree.n.01_7_ori_sin",
+        "tree.n.01_7_in_gripper_left",
+        "tree.n.01_7_in_gripper_right",
+        "tree.n.01_8_real",
+        "tree.n.01_8_pos",
+        "tree.n.01_8_ori_cos",
+        "tree.n.01_8_ori_sin",
+        "tree.n.01_8_in_gripper_left",
+        "tree.n.01_8_in_gripper_right",
+        "tree.n.01_9_real",
+        "tree.n.01_9_pos",
+        "tree.n.01_9_ori_cos",
+        "tree.n.01_9_ori_sin",
+        "tree.n.01_9_in_gripper_left",
+        "tree.n.01_9_in_gripper_right",
+        "tree.n.01_10_real",
+        "tree.n.01_10_pos",
+        "tree.n.01_10_ori_cos",
+        "tree.n.01_10_ori_sin",
+        "tree.n.01_10_in_gripper_left",
+        "tree.n.01_10_in_gripper_right",
+        "tree.n.01_11_real",
+        "tree.n.01_11_pos",
+        "tree.n.01_11_ori_cos",
+        "tree.n.01_11_ori_sin",
+        "tree.n.01_11_in_gripper_left",
+        "tree.n.01_11_in_gripper_right",
+        "tree.n.01_12_real",
+        "tree.n.01_12_pos",
+        "tree.n.01_12_ori_cos",
+        "tree.n.01_12_ori_sin",
+        "tree.n.01_12_in_gripper_left",
+        "tree.n.01_12_in_gripper_right",
+        "tree.n.01_13_real",
+        "tree.n.01_13_pos",
+        "tree.n.01_13_ori_cos",
+        "tree.n.01_13_ori_sin",
+        "tree.n.01_13_in_gripper_left",
+        "tree.n.01_13_in_gripper_right",
+        "tree.n.01_14_real",
+        "tree.n.01_14_pos",
+        "tree.n.01_14_ori_cos",
+        "tree.n.01_14_ori_sin",
+        "tree.n.01_14_in_gripper_left",
+        "tree.n.01_14_in_gripper_right",
+        "tree.n.01_15_real",
+        "tree.n.01_15_pos",
+        "tree.n.01_15_ori_cos",
+        "tree.n.01_15_ori_sin",
+        "tree.n.01_15_in_gripper_left",
+        "tree.n.01_15_in_gripper_right",
+        "tree.n.01_16_real",
+        "tree.n.01_16_pos",
+        "tree.n.01_16_ori_cos",
+        "tree.n.01_16_ori_sin",
+        "tree.n.01_16_in_gripper_left",
+        "tree.n.01_16_in_gripper_right",
+        "tree.n.01_17_real",
+        "tree.n.01_17_pos",
+        "tree.n.01_17_ori_cos",
+        "tree.n.01_17_ori_sin",
+        "tree.n.01_17_in_gripper_left",
+        "tree.n.01_17_in_gripper_right",
+        "tree.n.01_18_real",
+        "tree.n.01_18_pos",
+        "tree.n.01_18_ori_cos",
+        "tree.n.01_18_ori_sin",
+        "tree.n.01_18_in_gripper_left",
+        "tree.n.01_18_in_gripper_right",
+        "tree.n.01_19_real",
+        "tree.n.01_19_pos",
+        "tree.n.01_19_ori_cos",
+        "tree.n.01_19_ori_sin",
+        "tree.n.01_19_in_gripper_left",
+        "tree.n.01_19_in_gripper_right",
+        "tree.n.01_20_real",
+        "tree.n.01_20_pos",
+        "tree.n.01_20_ori_cos",
+        "tree.n.01_20_ori_sin",
+        "tree.n.01_20_in_gripper_left",
+        "tree.n.01_20_in_gripper_right",
+        "tree.n.01_21_real",
+        "tree.n.01_21_pos",
+        "tree.n.01_21_ori_cos",
+        "tree.n.01_21_ori_sin",
+        "tree.n.01_21_in_gripper_left",
+        "tree.n.01_21_in_gripper_right",
+        "tree.n.01_22_real",
+        "tree.n.01_22_pos",
+        "tree.n.01_22_ori_cos",
+        "tree.n.01_22_ori_sin",
+        "tree.n.01_22_in_gripper_left",
+        "tree.n.01_22_in_gripper_right",
+        "tree.n.01_23_real",
+        "tree.n.01_23_pos",
+        "tree.n.01_23_ori_cos",
+        "tree.n.01_23_ori_sin",
+        "tree.n.01_23_in_gripper_left",
+        "tree.n.01_23_in_gripper_right",
+        "tree.n.01_24_real",
+        "tree.n.01_24_pos",
+        "tree.n.01_24_ori_cos",
+        "tree.n.01_24_ori_sin",
+        "tree.n.01_24_in_gripper_left",
+        "tree.n.01_24_in_gripper_right",
+        "tree.n.01_25_real",
+        "tree.n.01_25_pos",
+        "tree.n.01_25_ori_cos",
+        "tree.n.01_25_ori_sin",
+        "tree.n.01_25_in_gripper_left",
+        "tree.n.01_25_in_gripper_right",
+        "tree.n.01_26_real",
+        "tree.n.01_26_pos",
+        "tree.n.01_26_ori_cos",
+        "tree.n.01_26_ori_sin",
+        "tree.n.01_26_in_gripper_left",
+        "tree.n.01_26_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_kyghri_7/base_link/visuals\", \"3\": \"/World/scene_0/bush_cwsigt_3/base_link/visuals\", \"4\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_1_0_link/visuals/mesh_0\", \"5\": \"/World/scene_0/bush_kyghri_0/base_link/visuals\", \"6\": \"/World/scene_0/bush_kjakgd_1/base_link/visuals\", \"7\": \"/World/scene_0/walls_jemunw_0/base_link/visuals\", \"8\": \"/World/scene_0/easter_egg_181/base_link/visuals\", \"9\": \"/World/scene_0/easter_egg_180/base_link/visuals\", \"10\": \"/World/scene_0/easter_egg_179/base_link/visuals\", \"11\": \"/World/scene_0/wicker_basket_178/base_link/visuals\", \"12\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"19\": \"/World/scene_0/walls_umqqmh_0/base_link/visuals\", \"20\": \"/World/scene_0/walls_uiloru_0/base_link/visuals\", \"21\": \"/World/scene_0/walls_rrabdp_0/base_link/visuals\", \"22\": \"/World/scene_0/walls_qeofms_0/base_link/visuals\", \"23\": \"/World/scene_0/walls_pmygxs_0/base_link/visuals\", \"24\": \"/World/scene_0/walls_paarsl_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_owxeej_0/base_link/visuals\", \"26\": \"/World/scene_0/walls_oqrbxo_0/base_link/visuals\", \"27\": \"/World/scene_0/walls_oiagxk_0/base_link/visuals\", \"28\": \"/World/scene_0/walls_mwlvfb_0/base_link/visuals\", \"29\": \"/World/scene_0/walls_mkgplc_0/base_link/visuals\", \"30\": \"/World/scene_0/walls_miltge_0/base_link/visuals\", \"31\": \"/World/scene_0/walls_mgvxov_0/base_link/visuals\", \"32\": \"/World/scene_0/walls_mgumxz_0/base_link/visuals\", \"33\": \"/World/scene_0/walls_lovfhw_0/base_link/visuals\", \"34\": \"/World/scene_0/walls_lblwvg_0/base_link/visuals\", \"35\": \"/World/scene_0/walls_jzwmhx_0/base_link/visuals\", \"36\": \"/World/scene_0/walls_jnbgxj_0/base_link/visuals\", \"37\": \"/World/scene_0/walls_jglkyp_0/base_link/visuals\", \"38\": \"/World/scene_0/walls_hcbqvq_0/base_link/visuals\", \"39\": \"/World/scene_0/walls_gishpf_0/base_link/visuals\", \"40\": \"/World/scene_0/walls_fwsbwf_0/base_link/visuals\", \"41\": \"/World/scene_0/walls_epketb_0/base_link/visuals\", \"42\": \"/World/scene_0/walls_dlfarz_0/base_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", 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\ No newline at end of file