diff --git "a/meta/episodes/task-0035/episode_00350080.json" "b/meta/episodes/task-0035/episode_00350080.json"
new file mode 100644--- /dev/null
+++ "b/meta/episodes/task-0035/episode_00350080.json"
@@ -0,0 +1,182 @@
+{
+    "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_upper_task_attach_a_camera_to_a_tripod_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"camera_tripod.n.01_1\": \"camera_tripod_86\", \"digital_camera.n.01_1\": \"digital_camera_87\", \"floor.n.01_1\": \"floors_nlswvt_0\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": 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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n                                \"scale\": [\n                                    1.000010371208191,\n                                    0.9999898672103882,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"7373b56c122ad4a1de77e4221c320c9a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_laeuzw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_laeuzw_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"laeuzw\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    1.000000238418579,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"15c63ad7417ced281a97483fd8ddd57e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_mbrukp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_mbrukp_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"mbrukp\",\n                                \"scale\": [\n                                    1.0000112056732178,\n                                    0.9999985694885254,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"1211f5e4d7b069b49416e4beeb21520e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_qhcqdn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n 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                               \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\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\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n                                \"scale\": [\n                                    1.0000251531600952,\n                                    1.0000274181365967,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"153d94789db39e2f3de4e80a17dc5e9b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_0\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                 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\"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_3\",\n                                \"category\": 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                   \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\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\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                               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                            \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"f60ce30aec25c7dc15ed95a6de858fe7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_abtgvz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_abtgvz_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"abtgvz\",\n                                \"scale\": [\n                                    1.0004545450210571,\n                                    1.000188946723938,\n                 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_hyjqxp_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"hyjqxp\",\n                                \"scale\": [\n                                    0.9998784065246582,\n                                    1.000119686126709,\n                                    0.9999837279319763\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_jovfqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_jovfqj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"jovfqj\",\n                                \"scale\": [\n                                    0.9999560713768005,\n                                    1.0000486373901367,\n                                    1.001761794090271\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\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    1.0000498294830322,\n                                    1.0017874240875244\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\": \"0e7ad3883512e4e419a7b205bd09517f\"\n                            }\n                        },\n                        \"picture_nxqoed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxqoed_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxqoed\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                              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    \"model\": \"rypaxo\",\n                                \"scale\": [\n                                    1.0001418590545654,\n                                    1.0001705884933472,\n                                    0.9999890327453613\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"8e3843c0cdb45e40dba7a33ed91e2f12\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_svpzro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_svpzro_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"svpzro\",\n                                \"scale\": [\n                                    0.9995415210723877,\n                                    1.0002294778823853,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\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\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": 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                            \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"xnuynn\",\n                                \"scale\": [\n                                    1.0000395774841309,\n                                    1.0000495910644531,\n                                    0.9983996152877808\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9b133296d8d2faa89aab2552779b30a3\"\n                            }\n                        },\n                        \"picture_yrkfct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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                    \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n        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                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_1\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shower_giialz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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                  \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_afoeoa_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"afoeoa\",\n                                \"scale\": [\n                                    0.999765932559967,\n                                    0.9998961687088013,\n                                    1.000025987625122\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n     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                  \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\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\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n                                    1.0000375509262085,\n                                    1.0000358819961548,\n                                    0.9999516010284424\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e23887408f7ae8386550346591a88a49\"\n                            }\n                        },\n                        \"towel_rack_qedffr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"towel_rack_qedffr_0\",\n                                \"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": 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          \"name\": \"wall_mounted_light_etqbld_1\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": 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                        }\n                        },\n                        \"wall_socket_plssag_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_0\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"boflea\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    0.9999855160713196,\n                                    1.0000048875808716\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"42162b735669e99966336e6a03293a9c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_eguptx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_eguptx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"eguptx\",\n                                \"scale\": [\n                                    1.000280499458313,\n                                    0.9999999403953552,\n                                   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1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": 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},\n                        \"walls_zlekao_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zlekao_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zlekao\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.9999727010726929,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"camera_tripod_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"camera_tripod_86\",\n                                \"category\": \"camera_tripod\",\n                                \"model\": \"hnpofr\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ddd3a2011a3795a72cd155d86690bb99\"\n                            }\n                        },\n                        \"digital_camera_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"digital_camera_87\",\n                                \"category\": \"digital_camera\",\n                                \"model\": \"zcnxuz\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"bfc0a79a55775fd4be236b9aa58a9aa4\"\n                            }\n                        },\n 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\"vel_filter\": {\n                                            \"past_samples\": [\n                                                [\n                                                    2.6822087875189027e-06,\n                                                    -1.162290482170647e-05\n                                                ],\n                                                [\n                                                    0.0006256902124732733,\n                                                    -0.0012932794634252787\n                                                ],\n                                                [\n                                                    0.00010502254008315504,\n                                                    -3.07301597786136e-05\n                                                ],\n                                                [\n                                                    2.8163192837382667e-05,\n                       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\"waypoint_resolution\": 0.2,\n            \"load_room_types\": null,\n            \"load_room_instances\": [\n                \"bedroom_0\",\n                \"bedroom_1\",\n                \"bedroom_2\"\n            ],\n            \"include_robots\": false\n        }\n    },\n    \"objects_info\": {\n        \"init_info\": {\n            \"bottom_cabinet_nddvba_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_nddvba_0\",\n                    \"category\": \"bottom_cabinet\",\n                    \"model\": \"nddvba\",\n                    \"scale\": [\n                        0.919100284576416,\n                        1.7930281162261963,\n                        1.75520658493042\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": 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\"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"f2753acb76e9361cd20744db2a7b2fe6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_srlfnq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_srlfnq_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"srlfnq\",\n                    \"scale\": [\n                        1.0000112056732178,\n                        0.9999985694885254,\n                        1.0000264644622803\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n            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\"bddl_object_scope\": null\n                }\n            },\n            \"desk_uqcmzf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"desk_uqcmzf_0\",\n                    \"category\": \"desk\",\n                    \"model\": \"uqcmzf\",\n                    \"scale\": [\n                        1.0000251531600952,\n                        1.0000274181365967,\n                        0.9999312162399292\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"153d94789db39e2f3de4e80a17dc5e9b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_pxhbim_0\": {\n                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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_pxhbim_1\",\n                    \"category\": \"door\",\n                    \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_pxhbim_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                 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                \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fixed_window_etjpqr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fixed_window_etjpqr_0\",\n                    \"category\": \"fixed_window\",\n                    \"model\": \"etjpqr\",\n                  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1.0000231266021729,\n                        0.9999651908874512\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fixed_window_etjpqr_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fixed_window_etjpqr_5\",\n                    \"category\": \"fixed_window\",\n                    \"model\": \"etjpqr\",\n                    \"scale\": [\n                        0.9994935393333435,\n                        1.0000231266021729,\n                        0.9999651908874512\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_dcxicr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_dcxicr_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"dcxicr\",\n                    \"scale\": [\n                        1.0000115633010864,\n                        0.9999899864196777,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                       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        \"bddl_object_scope\": null\n                }\n            },\n            \"floors_rfqizg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_rfqizg_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"rfqizg\",\n                    \"scale\": [\n                        0.9999974966049194,\n                        1.0000001192092896,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_zrhxwn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_zrhxwn_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"zrhxwn\",\n                    \"scale\": [\n                        1.0000113248825073,\n                        0.9999984502792358,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"folderal_ydrlth_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"folderal_ydrlth_0\",\n                    \"category\": \"folderal\",\n                 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0.9999114871025085,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"33b7b78cdfc50191ed893a86ecf2dd33\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"map_hsbtqi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"map_hsbtqi_0\",\n                    \"category\": \"map\",\n                    \"model\": \"hsbtqi\",\n                    \"scale\": [\n                        0.9997706413269043,\n                        0.9998932480812073,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"93336787b4b0820bc26c6eb76eb77a83\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_eexydp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_eexydp_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"eexydp\",\n                    \"scale\": [\n                        1.0030890703201294,\n                        0.9999678134918213,\n                        1.0000113248825073\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"baaa751fd7222229f37063b68adb644c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_jfkvxh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_jfkvxh_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"jfkvxh\",\n                    \"scale\": [\n                        1.001561164855957,\n                        0.9999836683273315,\n                        1.0000487565994263\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"072188b0eec005268f16019eefad639b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_ljabhq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_ljabhq_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"ljabhq\",\n                    \"scale\": [\n                        1.0005065202713013,\n                        0.9999780058860779,\n                        1.0000290870666504\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"f60ce30aec25c7dc15ed95a6de858fe7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_abtgvz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_abtgvz_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"abtgvz\",\n                    \"scale\": [\n                        1.0004545450210571,\n                        1.000188946723938,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"de082b8d6f65c0ee981ec473507e3620\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_aqahkx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_aqahkx_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"aqahkx\",\n                    \"scale\": [\n                        1.000043511390686,\n                        0.9999478459358215,\n                        0.9999922513961792\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"2c4dc484d8ee45431d1c38911c2ba36d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_bzmdxc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_bzmdxc_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"bzmdxc\",\n                    \"scale\": [\n                        0.9997698068618774,\n                        0.9997700452804565,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"669b46fb61fccd276c338359ed15badb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_hyjqxp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"nzctlq\",\n                    \"scale\": [\n                        0.9998580813407898,\n                        0.9999564290046692,\n                        0.9999911785125732\n                    ],\n                  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              \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"8e3843c0cdb45e40dba7a33ed91e2f12\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_svpzro_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_svpzro_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"svpzro\",\n                    \"scale\": [\n                        0.9995415210723877,\n                        1.0002294778823853,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n           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               \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_0\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_2\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": \"room_divider\",\n                    \"model\": \"bydmct\",\n                    \"scale\": [\n                        1.000349521636963,\n                        1.0000001192092896,\n                        1.0000749826431274\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_sapyzl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_sapyzl_0\",\n                    \"category\": \"shelf\",\n                    \"model\": \"sapyzl\",\n                    \"scale\": [\n                        1.0002144575119019,\n                        0.9999921917915344,\n                        1.0006431341171265\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_sapyzl_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_sapyzl_1\",\n                    \"category\": \"shelf\",\n                    \"model\": \"sapyzl\",\n                    \"scale\": [\n                        1.0002144575119019,\n                        0.9999921917915344,\n                        1.0006431341171265\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_tv_sodbbr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_tv_sodbbr_0\",\n                    \"category\": \"wall_mounted_tv\",\n                    \"model\": \"sodbbr\",\n                    \"scale\": [\n                        1.000807523727417,\n                        1.0000016689300537,\n                        0.9999944567680359\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"d98c980c798debe0cd5c8aeb439e77b5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_0\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_boflea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_boflea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"boflea\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9999855160713196,\n                        1.0000048875808716\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"42162b735669e99966336e6a03293a9c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_eguptx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ldoefg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ldoefg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ldoefg\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        1.0000122785568237,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"camera_tripod_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"camera_tripod_86\",\n                    \"category\": \"camera_tripod\",\n                    \"model\": \"hnpofr\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"ddd3a2011a3795a72cd155d86690bb99\"\n                }\n            },\n            \"digital_camera_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"digital_camera_87\",\n                    \"category\": \"digital_camera\",\n                    \"model\": \"zcnxuz\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfc0a79a55775fd4be236b9aa58a9aa4\"\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": 4242,
+    "num_samples": 4242,
+    "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",
+        "digital_camera.n.01_1_real",
+        "digital_camera.n.01_1_pos",
+        "digital_camera.n.01_1_ori_cos",
+        "digital_camera.n.01_1_ori_sin",
+        "digital_camera.n.01_1_in_gripper_left",
+        "digital_camera.n.01_1_in_gripper_right",
+        "camera_tripod.n.01_1_real",
+        "camera_tripod.n.01_1_pos",
+        "camera_tripod.n.01_1_ori_cos",
+        "camera_tripod.n.01_1_ori_sin",
+        "camera_tripod.n.01_1_in_gripper_left",
+        "camera_tripod.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/digital_camera_87/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/digital_camera_87/base_link/visuals\", \"4\": \"/World/scene_0/camera_tripod_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"18\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"19\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"20\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"21\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"22\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"23\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"24\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"25\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"26\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"27\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"28\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"29\": 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+}
\ No newline at end of file