diff --git "a/meta/episodes/task-0004/episode_00040470.json" "b/meta/episodes/task-0004/episode_00040470.json"
new file mode 100644--- /dev/null
+++ "b/meta/episodes/task-0004/episode_00040470.json"
@@ -0,0 +1,599 @@
+{
+    "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_single_floor_task_can_meat_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"bratwurst.n.01_1\": \"bratwurst_233\", \"bratwurst.n.01_2\": \"bratwurst_232\", \"bratwurst.n.01_3\": \"bratwurst_231\", \"bratwurst.n.01_4\": \"bratwurst_230\", \"cabinet.n.01_1\": \"top_cabinet_lkxmne_2\", \"chopping_board.n.01_1\": \"cutting_board_234\", \"countertop.n.01_1\": \"bar_udatjt_0\", \"floor.n.01_1\": \"floors_kxcpgy_0\", \"hinged_jar.n.01_1\": \"hinged_jar_236\", \"hinged_jar.n.01_2\": \"hinged_jar_235\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_single_floor\", \"scene_instance\": \"house_single_floor_task_can_meat_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_rhdbzv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_rhdbzv_0\", \"category\": \"bottom_cabinet\", \"model\": \"rhdbzv\", \"scale\": [0.8492847084999084, 0.4163443148136139, 0.9043539762496948], \"fixed_base\": true, 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\"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"c2f5579862555918caa5c4d26cd049c4\"}}, \"walls_ooixcz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_ooixcz_0\", \"category\": \"walls\", \"model\": \"ooixcz\", \"scale\": [1.0000063180923462, 1.0000216960906982, 0.9999969005584717], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"8931d85797f87d0ca51e2426c7880326\"}}, \"walls_oyhdlq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_oyhdlq_0\", \"category\": \"walls\", \"model\": \"oyhdlq\", \"scale\": [0.9998031258583069, 1.0000176429748535, 1.0000320672988892], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"e8cc47abcd54dace7edeeb38394d15ab\"}}, \"walls_paognv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_paognv_0\", \"category\": \"walls\", \"model\": \"paognv\", \"scale\": [1.000030517578125, 1.0002267360687256, 1.0000020265579224], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"4cc966d4f08349625bd7f3ca18484aef\"}}, \"walls_pdahqy_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_pdahqy_0\", \"category\": \"walls\", \"model\": \"pdahqy\", \"scale\": [0.9997052550315857, 1.0000066757202148, 1.000003457069397], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"43c0b40dbff0643af8cfedc5f92b056a\"}}, \"walls_pofjys_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": 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\"bddl_object_scope\": null, \"expected_file_hash\": \"dee82f803bcbfa17517d5fe8d04143ec\"}}, \"walls_qpxhxd_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_qpxhxd_0\", \"category\": \"walls\", \"model\": \"qpxhxd\", \"scale\": [1.0000958442687988, 0.9999675750732422, 0.9999513030052185], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"5f6547cba435a5e4783f9ac99c180634\"}}, \"walls_qsvtbs_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_qsvtbs_0\", \"category\": \"walls\", \"model\": \"qsvtbs\", \"scale\": [1.000019907951355, 1.0001133680343628, 1.0000109672546387], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"501b59527a184496cea65db8523fe842\"}}, \"walls_qzwuwo_0\": {\"class_module\": 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\"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"a6717a115efe1c9b8a587418dc4703bc\"}}, \"walls_skoxkp_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_skoxkp_0\", \"category\": \"walls\", \"model\": \"skoxkp\", \"scale\": [0.9999924898147583, 1.0000261068344116, 0.9999475479125977], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"a241c675555338c7b67f5857a486889b\"}}, \"walls_snssjy_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_snssjy_0\", \"category\": \"walls\", \"model\": \"snssjy\", \"scale\": [0.9999773502349854, 1.0001850128173828, 1.000003457069397], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": 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\"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_tcizfi_0\", \"category\": \"walls\", \"model\": \"tcizfi\", \"scale\": [1.0000131130218506, 1.0001007318496704, 0.9999462962150574], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"75da7d97fa08862731825d414fff34f6\"}}, \"walls_tdzxzv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_tdzxzv_0\", \"category\": \"walls\", \"model\": \"tdzxzv\", \"scale\": [0.999958336353302, 1.000003457069397, 1.0000277757644653], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"b2d3b397bb8e73572e203a41d5e063ce\"}}, \"walls_thipzw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_thipzw_0\", \"category\": \"walls\", \"model\": \"thipzw\", \"scale\": 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\"bddl_object_scope\": null, \"expected_file_hash\": \"1d113b2f1166f2a11c8e7e280e1b5834\"}}, \"walls_tyjlww_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_tyjlww_0\", \"category\": \"walls\", \"model\": \"tyjlww\", \"scale\": [0.999956488609314, 1.0001850128173828, 0.9999752640724182], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"676de304599f95421be37abedf02dfb6\"}}, \"walls_ubgakb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_ubgakb_0\", \"category\": \"walls\", \"model\": \"ubgakb\", \"scale\": [0.9999848008155823, 1.0, 1.0000109672546387], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"41212fd074369e0a4025775c24c833c8\"}}, \"walls_ubscrh_0\": {\"class_module\": 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\"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"0f87c3e4ef2d0e85b110f1f2ad4924f5\"}}, \"walls_uubhfj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_uubhfj_0\", \"category\": \"walls\", \"model\": \"uubhfj\", \"scale\": [0.9999725222587585, 0.9998858571052551, 0.9999997019767761], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"9f5816607a08ec5363d35183a9ae7129\"}}, \"walls_uuxqzk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_uuxqzk_0\", \"category\": \"walls\", \"model\": \"uuxqzk\", \"scale\": [0.9997155070304871, 0.999993085861206, 1.000003457069397], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": 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0.7142301201820374\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_kwbnhy_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.36335563659668,\n                            5.792731761932373,\n                            1.3245834112167358\n                        ],\n                        \"ori\": [\n                            1.8200491922470974e-06,\n                            1.4828742678218987e-08,\n                            0.008148525841534138,\n                            0.9999669194221497\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_kwbnhy_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n 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\"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"sofa_lugrhk_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            12.471776008605957,\n                            -1.2558354139328003,\n                            0.2691541612148285\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7062069773674011,\n                            0.708005428314209\n                        ]\n                    },\n                    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\"scale\": [\n                                    0.9997877478599548,\n                                    1.3944655656814575,\n                                    1.2035202980041504\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bottom_cabinet_no_top_gjrero_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_gjrero_1\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"gjrero\",\n                                \"scale\": [\n                                    0.9997877478599548,\n                                    1.3944655656814575,\n                                    1.2035202980041504\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bottom_cabinet_no_top_gjrero_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_gjrero_4\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"gjrero\",\n                                \"scale\": [\n                                    0.6609978675842285,\n                                    1.3523503541946411,\n                                    1.2035202980041504\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n    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        \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    1.0000227689743042,\n                                    1.0000056028366089,\n                                    1.0000313520431519\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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               \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    1.0000250339508057,\n                                    1.000002384185791,\n                                    1.0000070333480835\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    1.0000250339508057,\n                                    1.000002384185791,\n                                    1.0000070333480835\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    1.0000250339508057,\n                                    1.000002384185791,\n                                    1.0000070333480835\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                 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             \"scale\": [\n                                    0.9999930262565613,\n                                    0.9999948740005493,\n                                    0.9999954700469971\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_2\",\n                                \"category\": \"bush\",\n                                \"model\": 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                   \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.7209866642951965,\n                                    0.7209925651550293,\n                                    0.7209813594818115\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_xsqlhv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_xsqlhv_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"xsqlhv\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.9999860525131226,\n                                    1.0000078678131104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_xsqlhv_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_xsqlhv_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"xsqlhv\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.9999860525131226,\n                                    1.0000078678131104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_xsqlhv_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_xsqlhv_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"xsqlhv\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.9999860525131226,\n                                    1.0000078678131104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_xsqlhv_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_xsqlhv_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"xsqlhv\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.9999860525131226,\n                                    1.0000078678131104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.9999868273735046,\n                                    0.999997079372406,\n                                    0.999981164932251\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.9999868273735046,\n                                    0.999997079372406,\n                                    0.999981164932251\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"car_ssxsje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"car_ssxsje_0\",\n                                \"category\": \"car\",\n                                \"model\": \"ssxsje\",\n                                \"scale\": [\n                                    1.0000019073486328,\n                                    0.9999808073043823,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"car_xxsgpq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"car_xxsgpq_0\",\n                                \"category\": \"car\",\n                                \"model\": \"xxsgpq\",\n                                \"scale\": [\n                                    1.0000019073486328,\n                                    0.9999808073043823,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"charcoal_grill_crdaeu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"charcoal_grill_crdaeu_0\",\n                                \"category\": \"charcoal_grill\",\n                                \"model\": \"crdaeu\",\n                                \"scale\": [\n                                    1.00003182888031,\n                                    0.9999886751174927,\n                                    1.0082638263702393\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"clothes_dryer_xsuyua_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"clothes_dryer_xsuyua_0\",\n                                \"category\": \"clothes_dryer\",\n                                \"model\": \"xsuyua\",\n                                \"scale\": [\n                                    1.1082271337509155,\n                                    0.9749157428741455,\n                                    1.0520626306533813\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"clothesline_pole_smrqrw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"clothesline_pole_smrqrw_0\",\n                                \"category\": \"clothesline_pole\",\n                                \"model\": \"smrqrw\",\n                                \"scale\": [\n                                    1.0002660751342773,\n                                    1.000095248222351,\n                                    0.9999536871910095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"clothesline_pole_smrqrw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"clothesline_pole_smrqrw_1\",\n                                \"category\": \"clothesline_pole\",\n                                \"model\": \"smrqrw\",\n                                \"scale\": [\n                                    1.0002660751342773,\n                                    1.000095248222351,\n                                    0.9999536871910095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"dishwasher_ynrhuk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"dishwasher_ynrhuk_0\",\n                                \"category\": \"dishwasher\",\n                                \"model\": \"ynrhuk\",\n                                \"scale\": [\n                                    1.0596805810928345,\n                                    1.105420708656311,\n                                    1.0615441799163818\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bf8ebfa4f2eddcbf9df621f5aa74f752\"\n                            }\n                        },\n                        \"fridge_dszchb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fridge_dszchb_0\",\n                                \"category\": \"fridge\",\n                                \"model\": \"dszchb\",\n                                \"scale\": [\n                                    1.0291646718978882,\n                                    0.9616702198982239,\n                                    1.021162748336792\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ebd1f512f4d2c5a274030474a0c2c40e\"\n                            }\n                        },\n                        \"microwave_abzvij_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"microwave_abzvij_0\",\n                                \"category\": \"microwave\",\n                                \"model\": \"abzvij\",\n                                \"scale\": [\n                                    1.0000813007354736,\n                                    0.9999414682388306,\n                                    0.9998689889907837\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7a85e023958638f1c71d21de09907b2e\"\n                            }\n                        },\n                        \"recreational_vehicle_doiucd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"recreational_vehicle_doiucd_0\",\n                                \"category\": \"recreational_vehicle\",\n                                \"model\": \"doiucd\",\n                                \"scale\": [\n                                    1.0000016689300537,\n                                    0.9999963641166687,\n                                    1.0000040531158447\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\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_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"toilet_udiezm_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_1\",\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                            }\n                        },\n                        \"tree_dyymaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_dyymaq_0\",\n                                \"category\": \"tree\",\n                                \"model\": \"dyymaq\",\n                                \"scale\": [\n                                    0.9999959468841553,\n                                    1.0000029802322388,\n                                    0.9999996423721313\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_dyymaq_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_dyymaq_1\",\n                                \"category\": \"tree\",\n                                \"model\": \"dyymaq\",\n                                \"scale\": [\n                                    0.8115606307983398,\n                                    0.8115536570549011,\n                                    0.8115532994270325\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_dyymaq_2\": {\n                            \"class_module\": 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    \"args\": {\n                                \"name\": \"armchair_qhcrgb_5\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_qhcrgb_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                           \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_7\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_qhcrgb_8\": {\n                            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               },\n                        \"breakfast_table_rhjoby_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"breakfast_table_rhjoby_0\",\n                                \"category\": \"breakfast_table\",\n                                \"model\": \"rhjoby\",\n                                \"scale\": [\n                                    0.9999933242797852,\n                                    0.9999943971633911,\n                                    0.9999465942382812\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                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\"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floor_lamp_disyzd_0\",\n                                \"category\": \"floor_lamp\",\n                                \"model\": \"disyzd\",\n                                \"scale\": [\n                                    1.000093936920166,\n                                    0.9999775290489197,\n                                    0.999976634979248\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floor_lamp_jbjckk_0\": {\n                            \"class_module\": 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                   }\n                        },\n                        \"ottoman_lsaxch_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_0\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_lsaxch_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_1\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_lsaxch_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_2\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_lsaxch_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_3\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                         \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_wkmbra_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_wkmbra_0\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"wkmbra\",\n                                \"scale\": [\n                                    1.0000680685043335,\n                                    0.9999892115592957,\n                                    0.99988853931427\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"pot_plant_bjwskl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_bjwskl_0\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"bjwskl\",\n                                \"scale\": [\n                                    0.99996417760849,\n                                    0.9999886751174927,\n                                    1.0000299215316772\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"pot_plant_bjwskl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_bjwskl_1\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"bjwskl\",\n                                \"scale\": [\n                                    0.99996417760849,\n                                    0.9999886751174927,\n                                    1.0000299215316772\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"pot_plant_lligdl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_0\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"pot_plant_lligdl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_1\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"pot_plant_lligdl_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_2\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"pot_plant_lligdl_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_3\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"public_trash_can_gvnfgj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"public_trash_can_gvnfgj_0\",\n                                \"category\": \"public_trash_can\",\n                                \"model\": \"gvnfgj\",\n                                \"scale\": [\n                                    1.0001310110092163,\n                                    1.0001307725906372,\n                                    0.9999592900276184\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_bskyog_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_bskyog_0\",\n                                \"category\": 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          \"args\": {\n                                \"name\": \"sofa_cozrjc_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"cozrjc\",\n                                \"scale\": [\n                                    1.0000355243682861,\n                                    1.000028371810913,\n                                    1.0000559091567993\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e52429646aff3189d6fa944f458999ce\"\n                            }\n                        },\n                        \"sofa_cozrjc_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_cozrjc_1\",\n                                \"category\": \"sofa\",\n                                \"model\": \"cozrjc\",\n                                \"scale\": [\n                                    1.0000355243682861,\n                                    1.000028371810913,\n                                    1.0000559091567993\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e52429646aff3189d6fa944f458999ce\"\n                            }\n                        },\n                        \"straight_chair_gktknj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_gktknj_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"gktknj\",\n                                \"scale\": [\n                                    0.9999244213104248,\n                                    1.0000261068344116,\n                                    1.000027060508728\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"straight_chair_jgoolz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_jgoolz_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"jgoolz\",\n                                \"scale\": [\n                                    0.9999670386314392,\n                                    0.9999598860740662,\n                                    0.9999731183052063\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\"\n                            }\n                        },\n                        \"straight_chair_jgoolz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_jgoolz_1\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"jgoolz\",\n                                \"scale\": [\n                                    0.9999670386314392,\n                                    0.9999598860740662,\n                                    0.9999731183052063\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\"\n                            }\n                        },\n                        \"straight_chair_jgoolz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_jgoolz_2\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"jgoolz\",\n                                \"scale\": [\n                                    0.9999670386314392,\n                                    0.9999598860740662,\n                                    0.9999731183052063\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\"\n                            }\n                        },\n                        \"straight_chair_jgoolz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_jgoolz_3\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"jgoolz\",\n                                \"scale\": [\n                                    0.9999670386314392,\n                                    0.9999598860740662,\n                                    0.9999731183052063\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\"\n                            }\n                        },\n                        \"straight_chair_jgoolz_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_jgoolz_4\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"jgoolz\",\n                                \"scale\": [\n                                    0.9999670386314392,\n                                    0.9999598860740662,\n                                    0.9999731183052063\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\"\n                            }\n                        },\n                        \"straight_chair_jgoolz_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_jgoolz_5\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"jgoolz\",\n                                \"scale\": [\n                                    0.9999670386314392,\n                                    0.9999598860740662,\n                                    0.9999731183052063\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\"\n                            }\n                        },\n                        \"straight_chair_rljebp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_rljebp_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"rljebp\",\n                                \"scale\": [\n                                    1.0000680685043335,\n                                    1.000101089477539,\n                                    0.9999748468399048\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"straight_chair_rljebp_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_rljebp_1\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"rljebp\",\n                                \"scale\": [\n                                    1.0000680685043335,\n                                    1.000101089477539,\n                                    0.9999748468399048\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"swivel_chair_tbzfgf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"swivel_chair_tbzfgf_0\",\n                                \"category\": \"swivel_chair\",\n                                \"model\": \"tbzfgf\",\n                                \"scale\": [\n                                    0.9999836087226868,\n                                    1.0000224113464355,\n                                    1.0000064373016357\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"table_lamp_qgdwbh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"table_lamp_qgdwbh_0\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"qgdwbh\",\n                                \"scale\": [\n                                    0.9999149441719055,\n                                    0.9999149441719055,\n                                    0.9999114274978638\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"table_lamp_qgdwbh_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"table_lamp_qgdwbh_1\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"qgdwbh\",\n                                \"scale\": [\n                                    0.9999149441719055,\n                                    0.9999149441719055,\n                                    0.9999114274978638\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"table_lamp_uupwiq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"table_lamp_uupwiq_0\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"uupwiq\",\n                                \"scale\": [\n                                    0.9999452233314514,\n                                    0.9999451041221619,\n                                    0.9999746084213257\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_ivtoxu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_ivtoxu_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"ivtoxu\",\n                                \"scale\": [\n                                    1.000083327293396,\n                                    1.000083327293396,\n                                    0.9999555349349976\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\"\n                            }\n                        },\n                        \"taboret_ivtoxu_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_ivtoxu_1\",\n                                \"category\": \"taboret\",\n                                \"model\": \"ivtoxu\",\n                                \"scale\": [\n                                    1.000083327293396,\n                                    1.000083327293396,\n                                    0.9999555349349976\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\"\n                            }\n                        },\n                        \"taboret_ivtoxu_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_ivtoxu_2\",\n                                \"category\": \"taboret\",\n                                \"model\": \"ivtoxu\",\n                                \"scale\": [\n                                    1.000083327293396,\n                                    1.000083327293396,\n                                    0.9999555349349976\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\"\n                            }\n                        },\n                        \"taboret_ivtoxu_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_ivtoxu_3\",\n                                \"category\": \"taboret\",\n                                \"model\": \"ivtoxu\",\n                                \"scale\": [\n                                    1.000083327293396,\n                                    1.000083327293396,\n                                    0.9999555349349976\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\"\n                            }\n                        },\n    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         \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\"\n                            }\n                        },\n                        \"water_glass_bbpraa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"water_glass_bbpraa_0\",\n                                \"category\": \"water_glass\",\n                                \"model\": \"bbpraa\",\n                                \"scale\": [\n                                    1.0005030632019043,\n                                    1.000504970550537,\n                                    0.9999057650566101\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6604ae0c195e721402606bbba18ae6af\"\n                            }\n                        },\n                        \"bar_udatjt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bar_udatjt_0\",\n                                \"category\": \"bar\",\n                                \"model\": \"udatjt\",\n                                \"scale\": [\n                                    0.999976396560669,\n                                    1.000006914138794,\n                                    0.9999703764915466\n                                ],\n                                \"fixed_base\": true,\n          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                       \"category\": \"baseboard\",\n                                \"model\": \"peorza\",\n                                \"scale\": [\n                                    0.9999390840530396,\n                                    1.0000016689300537,\n                                    1.0001667737960815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2b7209f9355acafab9825576e707dd03\"\n                            }\n                        },\n                        \"bathtub_euxylv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bathtub_euxylv_0\",\n                                \"category\": \"bathtub\",\n                                \"model\": \"euxylv\",\n                                \"scale\": [\n                                    0.9999983906745911,\n                                    1.0000391006469727,\n                                    1.0000544786453247\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bathtub_pdcrfs_0\": {\n                            \"class_module\": 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\"bed_ivdnny_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_ivdnny_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"ivdnny\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000113248825073,\n                                    0.999988317489624\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bed_rrcvaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_rrcvaq_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"rrcvaq\",\n                                \"scale\": [\n                                    0.9999769330024719,\n                                    0.9999690055847168,\n                                    1.0000102519989014\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bed_rrcvaq_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_rrcvaq_1\",\n                                \"category\": \"bed\",\n                                \"model\": \"rrcvaq\",\n                                \"scale\": [\n                                    0.9999769330024719,\n                                    0.9999690055847168,\n                                    1.0000102519989014\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bench_pfjnnj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bench_pfjnnj_0\",\n                                \"category\": \"bench\",\n                                \"model\": \"pfjnnj\",\n                                \"scale\": [\n                                    0.9999957084655762,\n                                    1.0000416040420532,\n                                    0.9999966621398926\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                              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                           ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7955f5ad8238e00943e32d39e54f105b\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_gjeoer_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_gjeoer_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"gjeoer\",\n                                \"scale\": [\n                                    0.9999522566795349,\n                                    1.0000033378601074,\n                                    0.9999667406082153\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b0d103ca51cfc25f51193b231d559940\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_rkgjer_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_rkgjer_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"rkgjer\",\n                                \"scale\": [\n                                    1.0000126361846924,\n    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    \"model\": \"vxbkjq\",\n                                \"scale\": [\n                                    1.000017523765564,\n                                    0.9999582171440125,\n                                    1.0000255107879639\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"burner_mjvqii_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"burner_mjvqii_0\",\n                                \"category\": 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           \"args\": {\n                                \"name\": \"ceilings_apkslx_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"apkslx\",\n                                \"scale\": [\n                                    1.0000032186508179,\n                                    0.9999992251396179,\n                                    1.0000026226043701\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b6ae83f57c787c5dbd2aa073ace1b1ae\"\n                            }\n                        },\n                        \"ceilings_awbqsa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_awbqsa_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"awbqsa\",\n                                \"scale\": [\n                                    1.0000066757202148,\n                                    0.9999920129776001,\n                                    1.0000675916671753\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"92b843e892cedcb936baebe66eac1f33\"\n                            }\n                        },\n                        \"ceilings_frqekm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_frqekm_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"frqekm\",\n                                \"scale\": [\n                                    1.0000094175338745,\n                                    1.0000001192092896,\n                                    0.999937891960144\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c079d4cb2c56a85412de2105f0ce2c1b\"\n                            }\n                        },\n                        \"ceilings_gasyop_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gasyop_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gasyop\",\n                                \"scale\": [\n                                    0.9999809861183167,\n                                    0.9999995827674866,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b7dd9235290845971b23ebb7e1a83641\"\n                            }\n                        },\n                        \"ceilings_ibxzsn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_ibxzsn_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"ibxzsn\",\n                                \"scale\": [\n                                    1.0000120401382446,\n                                    1.0000014305114746,\n                                    0.9997040629386902\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b703cea128fe865e9a86194dea28930f\"\n                            }\n                        },\n                        \"ceilings_iskjpi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_iskjpi_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"iskjpi\",\n                                \"scale\": [\n                                    0.9999969601631165,\n                                    0.9999968409538269,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"34f7fb141fa21250508f97b9ddded2a4\"\n                            }\n                        },\n                        \"ceilings_jjyrdh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_jjyrdh_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"jjyrdh\",\n                                \"scale\": [\n                                    1.0000044107437134,\n                                    0.9999960064888,\n                                    1.0003373622894287\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\": \"dc3adab5b9b828fad59d139085ce35ed\"\n                            }\n                        },\n                        \"ceilings_khkogf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                      \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_kxjvpr_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"kxjvpr\",\n                                \"scale\": [\n                                    0.9999985098838806,\n                                    1.0000051259994507,\n                                    1.0003376007080078\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2c55352da0bd29c833a0043f772d0719\"\n                            }\n                        },\n                        \"ceilings_nsysju_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_nsysju_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"nsysju\",\n                                \"scale\": [\n                                    1.0000066757202148,\n                                    1.0000131130218506,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"98e9d6a2292ac5fa4e3aaa1643df5ab2\"\n                            }\n                        },\n                        \"ceilings_qdlnli_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_qdlnli_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"qdlnli\",\n                                \"scale\": [\n                                    1.000005841255188,\n                                    1.0000149011611938,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": 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                             ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"459a595d9ea0375935adfd08ff7a384e\"\n                            }\n                        },\n                        \"ceilings_shvqqe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_shvqqe_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"shvqqe\",\n                                \"scale\": [\n                               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                         \"args\": {\n                                \"name\": \"door_fnvpyu_0\",\n                                \"category\": \"door\",\n                                \"model\": \"fnvpyu\",\n                                \"scale\": [\n                                    1.0002930164337158,\n                                    0.999984085559845,\n                                    1.000014066696167\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_iuuykr_0\": {\n                            \"class_module\": 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\"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_kwbnhy_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_1\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.007671594619751,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_kwbnhy_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_2\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    0.9946825504302979,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n      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      \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_tfdrhh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_tfdrhh_0\",\n                                \"category\": \"door\",\n                                \"model\": \"tfdrhh\",\n                                \"scale\": [\n                                    1.0001115798950195,\n                                    1.0000137090682983,\n                                    0.9999946355819702\n                               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            \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_10\": {\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\": \"downlight_fisfbn_11\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\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\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                     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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_15\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_15\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\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\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_16\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_16\",\n                                \"category\": \"downlight\",\n                           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\"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_18\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_18\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_19\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_19\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_20\": {\n                            \"class_module\": 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                       \"downlight_fisfbn_22\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_22\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null\n            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\"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_33\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"args\": {\n                                \"name\": \"downlight_fisfbn_34\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_3\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_35\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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},\n                        \"downlight_fisfbn_38\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_38\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n    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             \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n          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               ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"drop_in_sink_awvzkn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"drop_in_sink_awvzkn_0\",\n                                \"category\": \"drop_in_sink\",\n                                \"model\": \"awvzkn\",\n                                \"scale\": [\n                                    1.0000107288360596,\n                                    1.0000001192092896,\n                                    0.9999061226844788\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n             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                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_10\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_10\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                       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\"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_14\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_14\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_15\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_15\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_16\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_16\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_17\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_17\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                     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                 }\n                        },\n                        \"electric_switch_gashan_19\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_19\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_2\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_20\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_20\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_21\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_21\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_22\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_22\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_3\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_4\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_5\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\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\": \"8d08f91d2693c7c134ad02d14bd899c3\"\n                            }\n                        },\n                        \"electric_switch_gashan_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8d08f91d2693c7c134ad02d14bd899c3\"\n                            }\n                        },\n                        \"electric_switch_gashan_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_9\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8d08f91d2693c7c134ad02d14bd899c3\"\n                            }\n                        },\n                        \"fixed_window_bvqijp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_bvqijp_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"bvqijp\",\n                                \"scale\": [\n                                    1.0003734827041626,\n                               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             \"name\": \"floors_qnvzkr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"qnvzkr\",\n                                \"scale\": [\n                                    1.0000104904174805,\n                                    1.000004529953003,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_shuuqu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_shuuqu_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"shuuqu\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    1.0000165700912476,\n                                    0.9999285936355591\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_sirgua_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"floors_uftgek_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_uftgek_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"uftgek\",\n                                \"scale\": [\n                                    1.0000008344650269,\n                                    1.0000061988830566,\n                                    0.9999038577079773\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_uzsntg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_uzsntg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"uzsntg\",\n                                \"scale\": [\n                                    0.9999973177909851,\n                                    1.0000057220458984,\n                                    0.9999462366104126\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\": \"26eb3e4f7a8b01f6d39dc593dabf2cdc\"\n                            }\n                        },\n                        \"floors_vcsslq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_vcsslq_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"vcsslq\",\n                                \"scale\": [\n                                    1.0000104904174805,\n                                    1.0000070333480835,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                    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    \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_wkdxrr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_wkdxrr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"wkdxrr\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.999998152256012,\n                                    0.9999285936355591\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_yfyxxu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_yfyxxu_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"yfyxxu\",\n                                \"scale\": [\n                                    0.9999967217445374,\n                                    1.0000355243682861,\n                                    0.9999294877052307\n                                ],\n                                \"fixed_base\": 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                   ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"gas_fireplace_gwqitr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"gas_fireplace_gwqitr_0\",\n                                \"category\": \"gas_fireplace\",\n                                \"model\": \"gwqitr\",\n                                \"scale\": [\n                                    0.9999507069587708,\n                                    0.9999906420707703,\n                                    1.0000510215759277\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\": \"3d5c88bd97031c29a539844d5a45f703\"\n                            }\n                        },\n                        \"lawn_wwoqjw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_wwoqjw_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"wwoqjw\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    0.9999285936355591\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"mirror_catitv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_catitv_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"catitv\",\n                          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                       \"model\": \"jpktmn\",\n                                \"scale\": [\n                                    0.9999599456787109,\n                                    0.9999796748161316,\n                                    0.9999815821647644\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"mirror_kglofh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_kglofh_0\",\n                              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                               \"name\": \"mirror_kglofh_2\",\n                                \"category\": \"mirror\",\n                                \"model\": \"kglofh\",\n                                \"scale\": [\n                                    0.9932603240013123,\n                                    0.9999375939369202,\n                                    1.0000180006027222\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"mirror_lobucc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_lobucc_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"lobucc\",\n                                \"scale\": [\n                                    0.9972072243690491,\n                                    0.9999979734420776,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"mirror_ndvgah_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_ndvgah_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"ndvgah\",\n                                \"scale\": [\n                                    0.9933433532714844,\n                                    1.0000016689300537,\n                                    1.0000172853469849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"mirror_tytkbq_0\": {\n                            \"class_module\": 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\"multi_station_furniture_sink_upwldu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"multi_station_furniture_sink_upwldu_0\",\n                                \"category\": \"multi_station_furniture_sink\",\n                                \"model\": \"upwldu\",\n                                \"scale\": [\n                                    1.0000449419021606,\n                                    0.9999862909317017,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"nightstand_wbxekb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_wbxekb_0\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"wbxekb\",\n                                \"scale\": [\n                                    1.0000756978988647,\n                                    0.9999943971633911,\n                                    0.9999978542327881\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"nightstand_wbxekb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_wbxekb_1\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"wbxekb\",\n                                \"scale\": [\n                                    1.0000756978988647,\n                                    0.9999943971633911,\n                                    0.9999978542327881\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"nightstand_wbxekb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_wbxekb_2\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"wbxekb\",\n                                \"scale\": [\n                                    1.0000756978988647,\n                                    0.6022898554801941,\n                                    0.9999978542327881\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"openable_window_eyvzfu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"openable_window_eyvzfu_0\",\n                                \"category\": \"openable_window\",\n                                \"model\": \"eyvzfu\",\n                                \"scale\": [\n                                    0.999903678894043,\n                                    0.9999958872795105,\n                                    1.0000061988830566\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"oven_ffitak_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"oven_ffitak_0\",\n                                \"category\": \"oven\",\n                                \"model\": \"ffitak\",\n                                \"scale\": [\n                                    0.9999300241470337,\n                                    1.0000790357589722,\n                                    1.000065803527832\n                    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        \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ed83a25799564c3777528261f603fffd\"\n                            }\n                        },\n                        \"room_light_podyre_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_light_podyre_1\",\n                                \"category\": \"room_light\",\n                                \"model\": \"podyre\",\n                                \"scale\": [\n                                    0.9999228715896606,\n                                    0.9999228715896606,\n                                    1.0000269412994385\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ed83a25799564c3777528261f603fffd\"\n                            }\n                        },\n                        \"shelf_amyper_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n            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\"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_amyper_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_2\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n            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          \"name\": \"shelf_amyper_9\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_fjozhc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_fjozhc_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"fjozhc\",\n                                \"scale\": [\n                                    1.0004448890686035,\n                                    1.0000022649765015,\n                                    1.0010017156600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_pfusrd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_pfusrd_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"pfusrd\",\n                                \"scale\": [\n                                    1.0000033378601074,\n                                    0.9999434351921082,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28dcd837ac5a0ec19878db4824c9b919\"\n                            }\n                        },\n                        \"shelf_pfusrd_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_pfusrd_1\",\n                                \"category\": \"shelf\",\n                                \"model\": \"pfusrd\",\n                                \"scale\": [\n                                    1.0000033378601074,\n                                    0.9999434351921082,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28dcd837ac5a0ec19878db4824c9b919\"\n     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 \"bddl_object_scope\": null\n                            }\n                        },\n                        \"showerhead_kdvrbf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_kdvrbf_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"kdvrbf\",\n                                \"scale\": [\n                                    0.9998995661735535,\n                                    1.0000202655792236,\n                                    1.000028371810913\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"showerhead_lrfpvk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_lrfpvk_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"lrfpvk\",\n                                \"scale\": [\n                                    0.9998265504837036,\n                                    1.0000230073928833,\n                                    1.000001072883606\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                     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 \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_lrvyvc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_lrvyvc_0\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"lrvyvc\",\n                                \"scale\": [\n                                    0.9999122023582458,\n                                    1.000001072883606,\n                                    1.0000181198120117\n                   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                          \"name\": \"sliding_door_tprpvb_10\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.001861810684204,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_11\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.088773250579834,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_12\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.2041987180709839,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_2\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.828336775302887,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\",\n                                    \"closet_3\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_3\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.9631685018539429,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\",\n                                    \"closet_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_4\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.748390257358551,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_5\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.0907971858978271,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_6\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.099666953086853,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_7\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.115620493888855,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_8\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.7850596904754639,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\",\n                                    \"closet_4\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_9\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.9854320883750916,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_hiphpn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_hiphpn_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"hiphpn\",\n                                \"scale\": [\n                                    1.0000189542770386,\n                                    1.000008463859558,\n                                    1.0000444650650024\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\": \"4434b1834510c5d500b67d4407632beb\"\n                            }\n                        },\n                        \"sofa_lugrhk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_lugrhk_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"lugrhk\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    0.9999846816062927,\n                                    1.000067949295044\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\": \"a28ea9334a635e45bdac167b9f87686c\"\n                            }\n                        },\n                        \"sofa_lugrhk_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_lugrhk_1\",\n                                \"category\": \"sofa\",\n                                \"model\": \"lugrhk\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    0.9999846816062927,\n                                    1.000067949295044\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\": \"a28ea9334a635e45bdac167b9f87686c\"\n                            }\n                        },\n                        \"sofa_wnzdke_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_wnzdke_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"wnzdke\",\n                                \"scale\": [\n                                    0.9999887943267822,\n                                    1.0000040531158447,\n                                    0.9999432563781738\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\": \"3c0b5e23c7f8c9c4405608fa1087efa2\"\n                            }\n                        },\n                        \"swimming_pool_vnvmkx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"swimming_pool_vnvmkx_0\",\n                                \"category\": \"swimming_pool\",\n                                \"model\": \"vnvmkx\",\n                                \"scale\": [\n                                    0.9999980926513672,\n                                    1.0000009536743164,\n                                    1.0000349283218384\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tabletop_sink_qnequy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tabletop_sink_qnequy_0\",\n                                \"category\": \"tabletop_sink\",\n                                \"model\": \"qnequy\",\n                                \"scale\": [\n                                    1.000011920928955,\n                                    0.9999924302101135,\n                                    0.9999474287033081\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tabletop_sink_qnequy_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tabletop_sink_qnequy_1\",\n                                \"category\": \"tabletop_sink\",\n                                \"model\": 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\"top_cabinet_lkxmne_0\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": \"lkxmne\",\n                                \"scale\": [\n                                    0.9998805522918701,\n                                    1.000040054321289,\n                                    1.0000317096710205\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\"\n                            }\n                        },\n                        \"top_cabinet_lkxmne_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_lkxmne_1\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": \"lkxmne\",\n                                \"scale\": [\n                                    0.9998805522918701,\n                                    1.000040054321289,\n                                    1.0000317096710205\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\"\n                            }\n                      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                               \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\"\n                            }\n                        },\n                        \"wall_clock_oqmbtp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_clock_oqmbtp_0\",\n                                \"category\": \"wall_clock\",\n                                \"model\": \"oqmbtp\",\n                                \"scale\": [\n                                    1.0004478693008423,\n                                    1.000062108039856,\n                                    0.9999592900276184\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_bkaivt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_bkaivt_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"bkaivt\",\n                                \"scale\": [\n                                    1.00009024143219,\n                                    0.9999925494194031,\n                                    0.9996886849403381\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_jhpygl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_jhpygl_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"jhpygl\",\n                                \"scale\": [\n                                    1.0002127885818481,\n                                    0.9999200105667114,\n                                    0.9997442960739136\n                                ],\n               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 0.9996898174285889\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                  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            \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\"\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n          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\"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_3\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": 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\"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\"\n                            }\n                        },\n                        \"wall_mounted_tv_leeqgt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_leeqgt_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"leeqgt\",\n                                \"scale\": [\n                                    1.000305414199829,\n                                    0.9999998807907104,\n                                    0.9999710321426392\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_tv_ovzajm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_ovzajm_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"ovzajm\",\n                                \"scale\": [\n                                    1.0003174543380737,\n                                    0.9999998211860657,\n                                    0.999970555305481\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\": \"1aaa72b1c6322397419b6a7eb0a39e44\"\n                            }\n                        },\n                        \"walls_aescmv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_aescmv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"aescmv\",\n                                \"scale\": [\n                                    0.9999967813491821,\n                                    0.9998936653137207,\n                                    1.0000377893447876\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f80192366bb5f121c924853d14207467\"\n                            }\n                        },\n                        \"walls_ahpkeh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ahpkeh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ahpkeh\",\n                                \"scale\": [\n                                    1.0000147819519043,\n                                    0.9997085332870483,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f114a366da290418bf0ecab0a37cd8fc\"\n                            }\n                        },\n                        \"walls_akntsr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_akntsr_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"axkjhh\",\n                                \"scale\": [\n                                    1.0000401735305786,\n                                    0.9999582171440125,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"96503b6a723c2cd7019f512e6d298c90\"\n                            }\n                        },\n                        \"walls_babjhv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_babjhv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"babjhv\",\n                                \"scale\": [\n                                    0.9998753070831299,\n                                    0.9999241232872009,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e63842a6e56a31f1d617c8e3a2d9dabd\"\n                            }\n                        },\n                        \"walls_baibaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_baibaz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"baibaz\",\n                                \"scale\": [\n                                    1.0000454187393188,\n                                    1.0000240802764893,\n                                    0.9999918937683105\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9b1227cafcd491fd9ee8ab8e97756b9f\"\n                            }\n                        },\n                        \"walls_bpbucg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bpbucg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bpbucg\",\n                                \"scale\": [\n                                    0.9998854398727417,\n                                    0.9999871253967285,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"dd90d7e91fb21465c4f556b05d1603e0\"\n                            }\n                        },\n                        \"walls_bqocyc_0\": {\n                            \"class_module\": 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},\n                        \"walls_chsrxr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_chsrxr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"chsrxr\",\n                                \"scale\": [\n                                    0.9999439120292664,\n                                    1.000038981437683,\n                                    1.0000029802322388\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5477ad11646f63a6c279c6ab150169d9\"\n                            }\n                        },\n                        \"walls_chtiea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_chtiea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"chtiea\",\n                                \"scale\": [\n                                    1.0002912282943726,\n                                    0.9999908804893494,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"492683cd3f6f28686e2889614dac76c8\"\n                            }\n                        },\n                        \"walls_cjxcfc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cjxcfc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cjxcfc\",\n                                \"scale\": [\n                                    1.000046730041504,\n                                    1.0000485181808472,\n                                    1.0000022649765015\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"23a96da372595b820f6035da5f9a9938\"\n                            }\n                        },\n                        \"walls_cnlgjq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cnlgjq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cnlgjq\",\n                                \"scale\": [\n                                    1.0000011920928955,\n                                    1.000003457069397,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4a47d00d9c99bd87994be1de5ace9339\"\n                            }\n                        },\n                        \"walls_cnqnew_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cnqnew_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cnqnew\",\n                                \"scale\": [\n                                    1.0000557899475098,\n                                    1.0002148151397705,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d3258eab8d551aba28a9ee8b51360738\"\n                            }\n                        },\n                        \"walls_dhsptd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dhsptd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dhsptd\",\n                                \"scale\": [\n                                    0.9999762773513794,\n                                    1.0000284910202026,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cbbb802d0f52baadf58d3d2aa418845a\"\n                            }\n                        },\n                        \"walls_dmdnmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dmdnmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dmdnmr\",\n                                \"scale\": [\n                                    1.0000286102294922,\n                                    0.9999963045120239,\n                                    0.9999678730964661\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9af97d00962f863dbe89537b4cd5194a\"\n                            }\n                        },\n                        \"walls_duatwe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_duatwe_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"duatwe\",\n                                \"scale\": [\n                                    1.0000064373016357,\n                                    0.9996722340583801,\n                                    1.0001468658447266\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2b24ad38a73bf6c989f58d3442afcd72\"\n                            }\n                        },\n                        \"walls_duepvi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_duepvi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"duepvi\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    0.9998845458030701,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fd44579bc2412659790ede22ae3f5a26\"\n                            }\n                        },\n                        \"walls_esuxme_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_esuxme_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"esuxme\",\n                                \"scale\": [\n                                    1.0001020431518555,\n                                    1.0000150203704834,\n                                    1.0000441074371338\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"36c02cbeae814d6f06fdab82fde9362e\"\n                            }\n                        },\n                        \"walls_evgaml_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_evgaml_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"evgaml\",\n                                \"scale\": [\n                                    1.0001057386398315,\n                                    0.9999967813491821,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"81c6b5c2d9bb69d4307df03c7bf8fbf3\"\n                            }\n                        },\n                        \"walls_fdxtnx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fdxtnx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fdxtnx\",\n                                \"scale\": [\n                                    0.999995768070221,\n                                    0.9998922348022461,\n                                    0.9998988509178162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3b9394cc62a797d6e72d377abc84eb7d\"\n                            }\n                        },\n                        \"walls_ffeqfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ffeqfb_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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\"walls\",\n                                \"model\": \"fglkmr\",\n                                \"scale\": [\n                                    0.9999951124191284,\n                                    1.0000271797180176,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9107a6e2cdc12fa39876f5901f76f442\"\n                            }\n                        },\n                        \"walls_fkmigx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fkmigx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fkmigx\",\n                                \"scale\": [\n                                    0.9999145865440369,\n                                    1.0000003576278687,\n                                    0.9999576807022095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cf395fc0aa326ffa44f6b86e49c33da4\"\n                            }\n                        },\n                        \"walls_frgwwc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_frgwwc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"frgwwc\",\n                                \"scale\": [\n                                    1.0000039339065552,\n                                    1.0000317096710205,\n                                    1.0000046491622925\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"86cfd0171907e7be2bd389df5d50e3b9\"\n                            }\n                        },\n                        \"walls_fuiqpw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fuiqpw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fuiqpw\",\n                                \"scale\": [\n                                    0.9999467730522156,\n                                    1.000038743019104,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0896aba5322ad78088de26aad682484\"\n                            }\n                        },\n                        \"walls_fvckzc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fvckzc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fvckzc\",\n                                \"scale\": [\n                                    0.9998689293861389,\n                                    0.9999626278877258,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"366122c87b60e8d73329bea949462b50\"\n                            }\n                        },\n                        \"walls_fxeanq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fxeanq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fxeanq\",\n                                \"scale\": [\n                                    0.9999138712882996,\n                                    0.999982476234436,\n                                    1.0000100135803223\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"51d2424ee7297ba15ebe8a6298445de9\"\n                            }\n                        },\n                        \"walls_fxofyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fxofyj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fxofyj\",\n                                \"scale\": [\n                                    1.0000901222229004,\n                                    0.9999547004699707,\n                                    0.9999491572380066\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"27fb159fdd8fa8fafb7ad9209368df48\"\n                            }\n                        },\n                        \"walls_fyjrnv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fyjrnv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fyjrnv\",\n                                \"scale\": [\n                                    0.999866783618927,\n                                    0.9999337792396545,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": 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                      \"expected_file_hash\": \"fa80baaadf7bf7f3e9d807082fb42367\"\n                            }\n                        },\n                        \"walls_gjrlnv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gjrlnv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gjrlnv\",\n                                \"scale\": [\n                                    0.9999542236328125,\n                                    1.000038743019104,\n                                    1.0000239610671997\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7508a533e6735b38373cfe46dc91f4ce\"\n                            }\n                        },\n                        \"walls_gkmbnp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkmbnp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkmbnp\",\n                                \"scale\": [\n                                    0.9999883770942688,\n                                    1.0000717639923096,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"03aafa408e5b97e10d988877b2b0b7cb\"\n                            }\n                        },\n                        \"walls_gkmwvy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkmwvy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkmwvy\",\n                                \"scale\": [\n                                    1.0000468492507935,\n                                    0.9999639987945557,\n                                    0.9999344944953918\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ee732d7a95f1c83ee57a9044b9e2e2b9\"\n                            }\n                        },\n                        \"walls_gkwemu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkwemu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkwemu\",\n                                \"scale\": [\n                                    0.9997715950012207,\n                                    0.9999929666519165,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6ed5f5c783d36924c6b68e191fc27244\"\n                            }\n                        },\n                        \"walls_gmwqcf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gmwqcf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gmwqcf\",\n                                \"scale\": [\n                                    0.9999575018882751,\n                                    1.0000061988830566,\n                                    1.0005370378494263\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a78266944e7d32b9d062607b28143a2c\"\n                            }\n                        },\n                        \"walls_gpfsgj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gpfsgj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gpfsgj\",\n                                \"scale\": [\n                                    0.999993085861206,\n                                    1.0000206232070923,\n                                    0.9999555349349976\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"38c25e2fdaa879d94e1e0f71317b27c5\"\n                            }\n                        },\n                        \"walls_grbaxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_grbaxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"grbaxo\",\n                                \"scale\": [\n                                    0.9998166561126709,\n                                    0.9999743700027466,\n                                    0.9999679923057556\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cc8f8282ca7986d8b59d49dea7fecaa3\"\n                            }\n                        },\n                        \"walls_gupuvk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gupuvk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gupuvk\",\n                                \"scale\": [\n                                    0.9999587535858154,\n                                    1.000302791595459,\n                                    1.0000627040863037\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b2136b725f567e6307ea8436ff20e4bf\"\n                            }\n                        },\n                        \"walls_guxxwh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_guxxwh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"guxxwh\",\n                                \"scale\": [\n                                    0.9998859167098999,\n                                    1.0000396966934204,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0899d28676cc8b7f9a6ea2a11ce9f67c\"\n                            }\n                        },\n                        \"walls_hajmoj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hajmoj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hajmoj\",\n                                \"scale\": [\n                                    1.000004768371582,\n                                    0.9999983310699463,\n                                    0.9999830722808838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bb538a88805a4cd63976d4b918aff4e6\"\n                            }\n                        },\n                        \"walls_hbacbx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hbacbx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hbacbx\",\n                                \"scale\": [\n                                    1.0000141859054565,\n                                    1.000041127204895,\n                                    1.0000261068344116\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"39ee95a560a06ea1e357a8cff8a58120\"\n                            }\n                        },\n                        \"walls_hczqhb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hczqhb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hczqhb\",\n                                \"scale\": [\n                                    1.0000282526016235,\n                                    0.999974250793457,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3ad447b6d13fc55da48ea17b28679ec9\"\n                            }\n                        },\n                        \"walls_hfxeuh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hfxeuh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hfxeuh\",\n                                \"scale\": [\n                                    0.9997124075889587,\n                                    0.9999848008155823,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7604afa1a38cd7ff0d1095f0373e5317\"\n                            }\n                        },\n                        \"walls_hgaazx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hgaazx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hgaazx\",\n                                \"scale\": [\n                                    0.9999676942825317,\n                                    0.9998993277549744,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"80c9e610d9946456ba24615a72273e46\"\n                            }\n                        },\n                        \"walls_hhbfdf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hhbfdf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hhbfdf\",\n                                \"scale\": [\n                                    1.000022292137146,\n                                    0.9999868273735046,\n                                    0.9999457001686096\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9960886844249e083693960659d27b9b\"\n                            }\n                        },\n                        \"walls_hoyudj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hoyudj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hoyudj\",\n                                \"scale\": [\n                                    1.000164270401001,\n                                    0.9999976754188538,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1c62cac2ec7678d6fccb52c50ce1f371\"\n                            }\n                        },\n                        \"walls_hqkpgu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hqkpgu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hqkpgu\",\n                                \"scale\": [\n                                    1.000036597251892,\n                                    0.9997795820236206,\n                                    1.000002384185791\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1e1dfd76fb90a257ab488afa768b9ea1\"\n                            }\n                        },\n                        \"walls_htpoqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_htpoqj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"htpoqj\",\n                                \"scale\": [\n                                    1.0000275373458862,\n                                    1.000287413597107,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"725c81c7b6a082a0f843e2065b5d6210\"\n                            }\n                        },\n                        \"walls_hwzmyf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hwzmyf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hwzmyf\",\n                                \"scale\": [\n                                    1.0001691579818726,\n                                    1.0000174045562744,\n                                    1.0000296831130981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a8141365919ab57ba229bcee5576d6d8\"\n                            }\n                        },\n                        \"walls_hzepkq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hzepkq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hzepkq\",\n                                \"scale\": [\n                                    0.9999510049819946,\n                                    1.0000250339508057,\n                                    1.0000377893447876\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"10c5b4dd10d4847c59e303cae4030781\"\n                            }\n                        },\n                        \"walls_hzhlyw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hzhlyw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hzhlyw\",\n                                \"scale\": [\n                                    1.0000052452087402,\n                                    0.9999136924743652,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"406c5f180d4be6e726f3e519aac09218\"\n                            }\n                        },\n                        \"walls_ipoatq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ipoatq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ipoatq\",\n                                \"scale\": [\n                                    0.9999895095825195,\n                                    0.9999748468399048,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9524088e62530e5bd8aa66f24a066be2\"\n                            }\n                        },\n                        \"walls_isnclr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_isnclr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"isnclr\",\n                                \"scale\": [\n                                    0.9999971985816956,\n                                    0.9999990463256836,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"84fd79ea13745314a88a63aa64c34b56\"\n                            }\n                        },\n                        \"walls_ivezzr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ivezzr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ivezzr\",\n                                \"scale\": [\n                                    0.999926745891571,\n                                    1.000006914138794,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f0a34e7b4723af0869106ed0eb108066\"\n                            }\n                        },\n                        \"walls_izcwsg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_izcwsg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"izcwsg\",\n                                \"scale\": [\n                                    0.9998259544372559,\n                                    1.0001044273376465,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e972cc4715d7958a302887137f758c0a\"\n                            }\n                        },\n                        \"walls_jbwydo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jbwydo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jbwydo\",\n                                \"scale\": [\n                                    0.9999164342880249,\n                                    1.0001364946365356,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ce775fa8e46eaf353af5d78cabe6b4f8\"\n                            }\n                        },\n                        \"walls_jshqhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jshqhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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\"args\": {\n                                \"name\": \"walls_kkltnz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"kkltnz\",\n                                \"scale\": [\n                                    0.9999747276306152,\n                                    1.0001676082611084,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b9764b000c7e78a039f14b35a0e5123c\"\n                            }\n                        },\n                        \"walls_knhryu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                           \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lbxvwa_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lbxvwa\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000089406967163,\n                                    1.0000019073486328\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3e9954ea345d1f7d46af1abc19707c87\"\n                            }\n                        },\n                        \"walls_lmjkkp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lmjkkp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lmjkkp\",\n                                \"scale\": [\n                                    0.9999988079071045,\n                                    0.9998951554298401,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8b8043d382af6ad5ed8dfd4c02178b48\"\n                            }\n                        },\n                        \"walls_ltqrqp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ltqrqp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ltqrqp\",\n                                \"scale\": [\n                                    1.0001306533813477,\n                                    0.9999893307685852,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": 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                      \"expected_file_hash\": \"8eabb4f1a54f560b979ca631ebf8baff\"\n                            }\n                        },\n                        \"walls_lxqjnd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lxqjnd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lxqjnd\",\n                                \"scale\": [\n                                    1.0001026391983032,\n                                    0.9999812841415405,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"06a955dbe7d2c2c51bd289ede3f42f37\"\n                            }\n                        },\n                        \"walls_lzkdkf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lzkdkf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lzkdkf\",\n                                \"scale\": [\n                                    1.0000964403152466,\n                                    0.9999716877937317,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b18cacf16971dd784c2f5675be580928\"\n                            }\n                        },\n                        \"walls_mgwnwy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgwnwy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgwnwy\",\n                                \"scale\": [\n                                    0.9999656677246094,\n                                    1.0001095533370972,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3051fe46dfab985bd2583932cf66add5\"\n                            }\n                        },\n                        \"walls_mianco_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mianco_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mianco\",\n                                \"scale\": [\n                                    1.0000030994415283,\n                                    0.9998830556869507,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6409d5aac1db60adc7068f56a98d4925\"\n                            }\n                        },\n                        \"walls_mxhvpj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mxhvpj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mxhvpj\",\n                                \"scale\": [\n                                    0.9999787211418152,\n                                    1.0001676082611084,\n                                    1.0000613927841187\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"567e4e9bd6742e449f5bea6f52038f97\"\n                            }\n                        },\n                        \"walls_nfmhed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nfmhed_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nfmhed\",\n                                \"scale\": [\n                                    0.9999906420707703,\n                                    1.0001713037490845,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2d2ff9742ad450d478dde5d95b69bb80\"\n                            }\n                        },\n                        \"walls_nhvigl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nhvigl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nhvigl\",\n                                \"scale\": [\n                                    1.0002909898757935,\n                                    0.9999896883964539,\n                                    1.0000035762786865\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8f4aa6726788b96bf03ea511469ca953\"\n                            }\n                        },\n                        \"walls_noclci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_noclci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"noclci\",\n                                \"scale\": [\n                                    1.0002578496932983,\n                                    0.9999694228172302,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7a1d4083f573696b12042db81cfad4bf\"\n                            }\n                        },\n                        \"walls_nuaoac_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nuaoac_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nuaoac\",\n                                \"scale\": [\n                                    1.000181794166565,\n                                    0.9999966621398926,\n                                    1.0000261068344116\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0003a9502ffc9a44fdf051531590c768\"\n                            }\n                        },\n                        \"walls_oehfxy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oehfxy_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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\"walls_olywna_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"olywna\",\n                                \"scale\": [\n                                    0.9999077916145325,\n                                    1.0000104904174805,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8a942cd9259129d8d4e57af2f874f82e\"\n                            }\n                        },\n                        \"walls_ondmvj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ondmvj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ondmvj\",\n                                \"scale\": [\n                                    1.0001270771026611,\n                                    1.0000394582748413,\n                                    0.9999598860740662\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cf91063b27fd6f6c2a20f159933dbfe8\"\n                            }\n                        },\n                        \"walls_onwdhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_onwdhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"onwdhr\",\n                                \"scale\": [\n                                    0.999975860118866,\n                                    0.9998258948326111,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c2f5579862555918caa5c4d26cd049c4\"\n                            }\n                        },\n                        \"walls_ooixcz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ooixcz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ooixcz\",\n                                \"scale\": [\n                                    1.0000063180923462,\n                                    1.0000216960906982,\n                                    0.9999969005584717\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8931d85797f87d0ca51e2426c7880326\"\n                            }\n                        },\n                        \"walls_oyhdlq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oyhdlq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oyhdlq\",\n                                \"scale\": [\n                                    0.9998031258583069,\n                                    1.0000176429748535,\n                                    1.0000320672988892\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e8cc47abcd54dace7edeeb38394d15ab\"\n                            }\n                        },\n                        \"walls_paognv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_paognv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"paognv\",\n                                \"scale\": [\n                                    1.000030517578125,\n                                    1.0002267360687256,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4cc966d4f08349625bd7f3ca18484aef\"\n                            }\n                        },\n                        \"walls_pdahqy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pdahqy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pdahqy\",\n                                \"scale\": [\n                                    0.9997052550315857,\n                                    1.0000066757202148,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": 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                     \"expected_file_hash\": \"68837f5ac4fefeb053999be090ea4ed0\"\n                            }\n                        },\n                        \"walls_pozods_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pozods_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pozods\",\n                                \"scale\": [\n                                    1.0000250339508057,\n                                    1.0000290870666504,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bdd4740e5986b5d30af5fff1767f80d5\"\n                            }\n                        },\n                        \"walls_pwjyds_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pwjyds_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pwjyds\",\n                                \"scale\": [\n                                    1.000086784362793,\n                                    0.9999912977218628,\n                                    0.9999852776527405\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a0824cac071c024f207e47ccfb7ac396\"\n                            }\n                        },\n                        \"walls_qlnqyd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qlnqyd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qlnqyd\",\n                                \"scale\": [\n                                    1.0002201795578003,\n                                    1.0000241994857788,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f5ac66235ef027b2a13902dfea5d74a8\"\n                            }\n                        },\n                        \"walls_qpkfgi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qpkfgi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qpkfgi\",\n                                \"scale\": [\n                                    1.0001020431518555,\n                                    1.0000150203704834,\n                                    0.9999968409538269\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"dee82f803bcbfa17517d5fe8d04143ec\"\n                            }\n                        },\n                        \"walls_qpxhxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qpxhxd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qpxhxd\",\n                                \"scale\": [\n                                    1.0000958442687988,\n                                    0.9999675750732422,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f6547cba435a5e4783f9ac99c180634\"\n                            }\n                        },\n                        \"walls_qsvtbs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qsvtbs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qsvtbs\",\n                                \"scale\": [\n                                    1.000019907951355,\n                                    1.0001133680343628,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"501b59527a184496cea65db8523fe842\"\n                            }\n                        },\n                        \"walls_qzwuwo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qzwuwo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qzwuwo\",\n                                \"scale\": [\n                                    1.0000032186508179,\n                                    0.9999549388885498,\n                                    1.000033974647522\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7bc0aa5cd7be5459dbdc22194f61bb61\"\n                            }\n                        },\n                        \"walls_rdcvhx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rdcvhx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rdcvhx\",\n                                \"scale\": [\n                                    0.9998269081115723,\n                                    0.999972403049469,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"200060273e5ec27a175a1f8b2d8a2558\"\n                            }\n                        },\n                        \"walls_rfpiin_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rfpiin_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rfpiin\",\n                                \"scale\": [\n                                    0.9998872876167297,\n                                    0.9998480081558228,\n                                    1.0000982284545898\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"78aae178e47827a17d8eeef44f2faa89\"\n                            }\n                        },\n                        \"walls_rogorx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rogorx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rogorx\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    0.9997554421424866,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9e59638361151cb381a141cf7c7b76b9\"\n                            }\n                        },\n                        \"walls_sgqckc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_sgqckc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"sgqckc\",\n                                \"scale\": [\n                                    1.00001859664917,\n                                    1.0001447200775146,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a6717a115efe1c9b8a587418dc4703bc\"\n                            }\n                        },\n                        \"walls_skoxkp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_skoxkp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"skoxkp\",\n                                \"scale\": [\n                                    0.9999924898147583,\n                                    1.0000261068344116,\n                                    0.9999475479125977\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a241c675555338c7b67f5857a486889b\"\n                            }\n                        },\n                        \"walls_snssjy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_snssjy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"snssjy\",\n                                \"scale\": [\n                                    0.9999773502349854,\n                                    1.0001850128173828,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0e079af31d2fcc0649e429cfcc265da2\"\n                            }\n                        },\n                        \"walls_somuet_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_somuet_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"somuet\",\n                                \"scale\": [\n                                    1.000002384185791,\n                                    1.0000072717666626,\n                                    1.000004768371582\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"23aa1dd90db138e86ea6a81b933dfd31\"\n                            }\n                        },\n                        \"walls_soubdp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_soubdp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"soubdp\",\n                                \"scale\": [\n                                    0.9998795390129089,\n                                    1.000030517578125,\n                                    1.0000603199005127\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a79565fbeb3096b3bcffc3f465833a04\"\n                            }\n                        },\n                        \"walls_tcizfi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tcizfi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tcizfi\",\n                                \"scale\": [\n                                    1.0000131130218506,\n                                    1.0001007318496704,\n                                    0.9999462962150574\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"75da7d97fa08862731825d414fff34f6\"\n                            }\n                        },\n                        \"walls_tdzxzv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tdzxzv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tdzxzv\",\n                                \"scale\": [\n                                    0.999958336353302,\n                                    1.000003457069397,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": 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                    \"expected_file_hash\": \"f1652309c5675e12099448c42f246b23\"\n                            }\n                        },\n                        \"walls_tlcifm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tlcifm_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tlcifm\",\n                                \"scale\": [\n                                    0.9999516606330872,\n                                    0.9999920129776001,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"acd76a72e12f34dfd8b2188395783a6b\"\n                            }\n                        },\n                        \"walls_tvjrao_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tvjrao_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tvjrao\",\n                                \"scale\": [\n                                    1.0000044107437134,\n                                    0.9997362494468689,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1d113b2f1166f2a11c8e7e280e1b5834\"\n                            }\n                        },\n                        \"walls_tyjlww_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tyjlww_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tyjlww\",\n                                \"scale\": [\n                                    0.999956488609314,\n                                    1.0001850128173828,\n                                    0.9999752640724182\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"676de304599f95421be37abedf02dfb6\"\n                            }\n                        },\n                        \"walls_ubgakb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ubgakb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ubgakb\",\n                                \"scale\": [\n                                    0.9999848008155823,\n                                    1.0,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"41212fd074369e0a4025775c24c833c8\"\n                            }\n                        },\n                        \"walls_ubscrh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ubscrh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ubscrh\",\n                                \"scale\": [\n                                    1.0000135898590088,\n                                    0.9998775124549866,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9221770c576094379840d89799d5ce7d\"\n                            }\n                        },\n                        \"walls_udgvuj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_udgvuj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"udgvuj\",\n                                \"scale\": [\n                                    0.9998785257339478,\n                                    0.9998557567596436,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4e277ddc9f07bd76b0a5471754c17869\"\n                            }\n                        },\n                        \"walls_udqkcs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_udqkcs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"udqkcs\",\n                                \"scale\": [\n                                    0.9999690055847168,\n                                    0.9999529719352722,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"35806e68ee15064a3769cfc729ac3a3e\"\n                            }\n                        },\n                        \"walls_uplnmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uplnmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uplnmr\",\n                                \"scale\": [\n                                    1.0001013278961182,\n                                    0.9999964237213135,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0b17866659cd01fd4a0e20d05d9d7ea0\"\n                            }\n                        },\n                        \"walls_urngpl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_urngpl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"urngpl\",\n                                \"scale\": [\n                                    0.9999960660934448,\n                                    1.0001499652862549,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0f87c3e4ef2d0e85b110f1f2ad4924f5\"\n                            }\n                        },\n                        \"walls_uubhfj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uubhfj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uubhfj\",\n                                \"scale\": [\n                                    0.9999725222587585,\n                                    0.9998858571052551,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9f5816607a08ec5363d35183a9ae7129\"\n                            }\n                        },\n                        \"walls_uuxqzk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uuxqzk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uuxqzk\",\n                                \"scale\": [\n                                    0.9997155070304871,\n                                    0.999993085861206,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bf1058fd19b5ed6ebc777a3191de8381\"\n                            }\n                        },\n                        \"walls_uvgxro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uvgxro_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uvgxro\",\n                                \"scale\": [\n                                    1.0002046823501587,\n                                    1.000001311302185,\n                                    0.9999594688415527\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4b71fb277cb8a29dd1e2d93b0b0468a2\"\n                            }\n                        },\n                        \"walls_uxcfbp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uxcfbp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uxcfbp\",\n                                \"scale\": [\n                                    1.0000423192977905,\n                                    0.9998830556869507,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"efd75340071552b755b0435ac75ba5a3\"\n                            }\n                        },\n                        \"walls_uxgkxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uxgkxd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uxgkxd\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    0.9999704957008362,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"67ffee9d78208ca1676b2abac170551d\"\n                            }\n                        },\n                        \"walls_uzxqqb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uzxqqb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uzxqqb\",\n                                \"scale\": [\n                                    0.999995768070221,\n                                    1.0001778602600098,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8d90b08abd843b5d1d81754c1503360d\"\n                            }\n                        },\n                        \"walls_vcftmx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vcftmx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vcftmx\",\n                                \"scale\": [\n                                    1.0000114440917969,\n                                    1.0001753568649292,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4357a4a2486598714769f21d93f3eb4b\"\n                            }\n                        },\n                        \"walls_vcgulk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vcgulk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vcgulk\",\n                                \"scale\": [\n                                    1.000012755393982,\n                                    1.0000059604644775,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c36f245f4ce0114e8840558266936fc0\"\n                            }\n                        },\n                        \"walls_vdywfg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vdywfg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vdywfg\",\n                                \"scale\": [\n                                    0.999976634979248,\n                                    1.0002204179763794,\n                                    1.0000320672988892\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c957fbf1c39a9663e580205244f213e7\"\n                            }\n                        },\n                        \"walls_vfibix_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vfibix_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vfibix\",\n                                \"scale\": [\n                                    1.0000523328781128,\n                                    1.0000444650650024,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a621d4d3a362cb5b09f3b4bb5b6d28fc\"\n                            }\n                        },\n                        \"walls_vmsoas_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vmsoas_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vmsoas\",\n                                \"scale\": [\n                                    1.0000299215316772,\n                                    1.0000975131988525,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b6a6936fa0668ebbc73da82e30e4d8bd\"\n                            }\n                        },\n                        \"walls_vpuhwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vpuhwn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vpuhwn\",\n                                \"scale\": [\n                                    0.99983149766922,\n                                    1.0000014305114746,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"34d6f85aaa51c44e1e695482865a9725\"\n                            }\n                        },\n                        \"walls_wbjwyy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wbjwyy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wbjwyy\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.9999871253967285,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6003670dcf8a013b4f1d24e7d6d67bdf\"\n                            }\n                        },\n                        \"walls_wjlqlb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\"\n                            }\n                        },\n                        \"walls_wjlqlb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_1\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\"\n                            }\n                        },\n                        \"walls_wjlqlb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_2\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\"\n                            }\n                        },\n                        \"walls_wjlqlb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_3\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\"\n                            }\n                        },\n                        \"walls_wjlqlb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_4\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\"\n                            }\n                        },\n                        \"walls_wjlqlb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_5\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\"\n                            }\n                        },\n                        \"walls_wjlqlb_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_6\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\"\n                            }\n                        },\n                        \"walls_wrodjv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wrodjv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wrodjv\",\n                                \"scale\": [\n                                    1.0002094507217407,\n                                    1.0000132322311401,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4dea63879e6171f3084843e7eb7502a4\"\n                            }\n                        },\n                        \"walls_wtpbpe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wtpbpe_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wtpbpe\",\n                                \"scale\": [\n                                    0.99996417760849,\n                                    1.0002048015594482,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e08806c70330f7bb93dc18542747f490\"\n                            }\n                        },\n                        \"walls_wveiea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wveiea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wveiea\",\n                                \"scale\": [\n                                    1.0000367164611816,\n                                    1.0000665187835693,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0759dbef4385cd6f4e763d518339a069\"\n                            }\n                        },\n                        \"walls_xbotyv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xbotyv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xbotyv\",\n                                \"scale\": [\n                                    0.999990701675415,\n                                    0.9999972581863403,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a7af5e29aceeadd78a7f60fc479890d8\"\n                            }\n                        },\n                        \"walls_xjxddw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xjxddw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xjxddw\",\n                                \"scale\": [\n                                    1.000271201133728,\n                                    1.0000120401382446,\n                                    1.0000308752059937\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cdfc62bc4869fa9b1af3c27bdbdf216f\"\n                            }\n                        },\n                        \"walls_xnutie_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xnutie_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xnutie\",\n                                \"scale\": [\n                                    0.9999076724052429,\n                                    0.9999979138374329,\n                                    0.9999707937240601\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c183a812a1eb3b661d23e1983c76511f\"\n                            }\n                        },\n                        \"walls_ybcyqk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ybcyqk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ybcyqk\",\n                                \"scale\": [\n                                    1.0002689361572266,\n                                    1.0000149011611938,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bd4ae787ba10b4535634dc240df8bf37\"\n                            }\n                        },\n                        \"walls_zfhsih_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zfhsih_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zfhsih\",\n                                \"scale\": [\n                                    1.0000901222229004,\n                                    0.9999537467956543,\n                                    1.0000230073928833\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b1feb2f954c85beb8b16599c1345b665\"\n                            }\n                        },\n                        \"walls_zpjckn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zpjckn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zpjckn\",\n                                \"scale\": [\n                                    0.9999418258666992,\n                                    1.00014328956604,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bc98b25d967db14c19a246e9520bbb4f\"\n                            }\n                        },\n                        \"walls_zqexop_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zqexop_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zqexop\",\n                                \"scale\": [\n                                    0.9999964833259583,\n                                    0.999962329864502,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"44d8b22376fb10122b86bfb5aaa108f6\"\n                            }\n                        },\n                        \"walls_zufhrv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zufhrv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zufhrv\",\n                                \"scale\": [\n                                    1.0000169277191162,\n                                    1.0000722408294678,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8e266a33536dadd2b83d79f0f6b0f4ea\"\n                            }\n                        },\n                        \"walls_zxlndv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zxlndv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zxlndv\",\n                                \"scale\": [\n                                    0.9999450445175171,\n                                    1.0000429153442383,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9448a0bb2b54ef1707e73c3a9a4e7142\"\n                            }\n                        },\n                        \"walls_zxyurx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zxyurx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zxyurx\",\n                                \"scale\": [\n                                    0.9999738335609436,\n                                    1.0000016689300537,\n                                    1.0000286102294922\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"80cb1fe69d53685ae693fff5407c79d5\"\n                            }\n                        },\n                        \"wardrobe_ktworp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wardrobe_ktworp_0\",\n                                \"category\": \"wardrobe\",\n                                \"model\": \"ktworp\",\n                                \"scale\": [\n                                    1.000016450881958,\n                                    1.0000059604644775,\n                                    1.0000040531158447\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wardrobe_lrokhl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wardrobe_lrokhl_0\",\n                                \"category\": \"wardrobe\",\n                                \"model\": \"lrokhl\",\n                                \"scale\": [\n                                    1.0000264644622803,\n                                    0.9999752044677734,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"washer_ynwamu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"washer_ynwamu_0\",\n                                \"category\": \"washer\",\n                                \"model\": \"ynwamu\",\n                                \"scale\": [\n                                    1.0000474452972412,\n                                    0.9999510645866394,\n                                    1.0000536441802979\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bratwurst_230\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bratwurst_230\",\n                                \"category\": \"bratwurst\",\n                                \"model\": \"pqfrrn\",\n                                \"scale\": [\n                                    0.49990129470825195,\n                                    0.49989089369773865,\n                                    0.49982818961143494\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"c1a1bd4da0f8a80adff37b3f28ff3bab\"\n                            }\n                        },\n                        \"bratwurst_231\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bratwurst_231\",\n                                \"category\": \"bratwurst\",\n                                \"model\": \"pqfrrn\",\n                                \"scale\": [\n                                    0.49990129470825195,\n                                    0.49989089369773865,\n                                    0.49982818961143494\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"c1a1bd4da0f8a80adff37b3f28ff3bab\"\n                            }\n                        },\n                        \"bratwurst_232\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bratwurst_232\",\n                                \"category\": \"bratwurst\",\n                                \"model\": \"pqfrrn\",\n                                \"scale\": [\n                                    0.49990129470825195,\n                                    0.49989089369773865,\n                                    0.49982818961143494\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"c1a1bd4da0f8a80adff37b3f28ff3bab\"\n                            }\n                        },\n                        \"bratwurst_233\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bratwurst_233\",\n                                \"category\": \"bratwurst\",\n                                \"model\": \"pqfrrn\",\n                                \"scale\": [\n                                    0.49990129470825195,\n                                    0.49989089369773865,\n                                    0.49982818961143494\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                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\"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"showerhead_lrfpvk_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        22.38646697998047,\n                                        21.58736801147461,\n                                        0.5167543292045593\n                                    ],\n                                    \"ori\": [\n                                        -0.023419544100761414,\n                                        0.0003616200992837548,\n                                        0.9997256994247437,\n                               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                         },\n                            \"sliding_door_tprpvb_11\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        20.209266662597656,\n                                        17.448143005371094,\n                                        2.310049057006836\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        1.3541251453474956e-14,\n                                        1.0,\n                                        -7.549789415861596e-08\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n 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0.6468996405601501,\n                                        1.7916107177734375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -2.954518097751614e-21,\n     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1.5257920026779175\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_baibaz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        24.998796463012695,\n                                        23.95005226135254,\n                                        1.4921669960021973\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                   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},\n                                \"non_kin\": {}\n                            },\n                            \"walls_izcwsg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.555973529815674,\n                                        6.074441432952881,\n                                        1.5257920026779175\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_jbwydo_0\": {\n                                \"is_asleep\": 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\"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"7b40d9ae66d06ba384f51c59ce1b05e3\"\n                }\n            },\n            \"bush_pjhpwk_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"pjhpwk\",\n                    \"scale\": [\n                        0.9999930262565613,\n                        0.9999948740005493,\n                        0.9999954700469971\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": 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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_xsqlhv_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"xsqlhv\",\n                    \"scale\": [\n                        1.0000061988830566,\n                        0.9999860525131226,\n                        1.0000078678131104\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"bb4777d9086e59cad81070f1dfbadb69\"\n                }\n            },\n            \"bush_xsqlhv_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_xsqlhv_1\",\n            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\"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fdc9eeb879e1e7cbb41e5be570e9aa6\"\n                }\n            },\n            \"bush_yhjhta_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.9999868273735046,\n                        0.999997079372406,\n                        0.999981164932251\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": 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\"category\": \"eames_chair\",\n                    \"model\": \"ubmrms\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        0.999999463558197,\n                        0.9999688267707825\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2cd7bd62e10c2a20965c310ad8a7e53e\"\n                }\n            },\n            \"eames_chair_ubmrms_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"eames_chair_ubmrms_1\",\n                    \"category\": \"eames_chair\",\n                    \"model\": \"ubmrms\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        0.999999463558197,\n                        0.9999688267707825\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2cd7bd62e10c2a20965c310ad8a7e53e\"\n                }\n            },\n            \"eames_chair_ubmrms_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"eames_chair_ubmrms_2\",\n                    \"category\": \"eames_chair\",\n                    \"model\": \"ubmrms\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        0.999999463558197,\n   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              \"expected_file_hash\": \"a0130bcc0632c3d73f16c873293cca78\"\n                }\n            },\n            \"pot_plant_lligdl_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_lligdl_2\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"lligdl\",\n                    \"scale\": [\n                        0.9999939799308777,\n                        1.000012755393982,\n                        1.0000044107437134\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a0130bcc0632c3d73f16c873293cca78\"\n                }\n            },\n 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      \"model\": \"ivtoxu\",\n                    \"scale\": [\n                        1.000083327293396,\n                        1.000083327293396,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"taboret_ivtoxu_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"taboret_ivtoxu_4\",\n                    \"category\": \"taboret\",\n                    \"model\": \"ivtoxu\",\n                    \"scale\": [\n                        1.000083327293396,\n          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\"name\": \"bottom_cabinet_no_top_rkgjer_0\",\n                    \"category\": \"bottom_cabinet_no_top\",\n                    \"model\": \"rkgjer\",\n                    \"scale\": [\n                        1.0000126361846924,\n                        0.9999865293502808,\n                        0.9999390840530396\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"0030a755bb045343cf3a95d6609fda35\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"boulder_vxbkjq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"boulder_vxbkjq_0\",\n                    \"category\": \"boulder\",\n        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            \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"b6ae83f57c787c5dbd2aa073ace1b1ae\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_awbqsa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_awbqsa_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"awbqsa\",\n                    \"scale\": [\n                        1.0000066757202148,\n                        0.9999920129776001,\n                        1.0000675916671753\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"92b843e892cedcb936baebe66eac1f33\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_frqekm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_frqekm_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"frqekm\",\n                    \"scale\": [\n                        1.0000094175338745,\n                        1.0000001192092896,\n                        0.999937891960144\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\"\n                    ],\n                    \"expected_file_hash\": \"c079d4cb2c56a85412de2105f0ce2c1b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_gasyop_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_gasyop_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"gasyop\",\n                    \"scale\": [\n                        0.9999809861183167,\n                        0.9999995827674866,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_2\"\n                    ],\n                    \"expected_file_hash\": \"b7dd9235290845971b23ebb7e1a83641\",\n                    \"bddl_object_scope\": null\n   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\"args\": {\n                    \"name\": \"ceilings_jjyrdh_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"jjyrdh\",\n                    \"scale\": [\n                        1.0000044107437134,\n                        0.9999960064888,\n                        1.0003373622894287\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"dc3adab5b9b828fad59d139085ce35ed\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_khkogf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_khkogf_0\",\n                    \"category\": 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0.9999985098838806,\n                        1.0000051259994507,\n                        1.0003376007080078\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"2c55352da0bd29c833a0043f772d0719\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_nsysju_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_nsysju_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"nsysju\",\n                    \"scale\": [\n                        1.0000066757202148,\n                        1.0000131130218506,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_0\"\n                    ],\n                    \"expected_file_hash\": \"98e9d6a2292ac5fa4e3aaa1643df5ab2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_qdlnli_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_qdlnli_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"qdlnli\",\n                    \"scale\": [\n                        1.000005841255188,\n                        1.0000149011611938,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_1\"\n                    ],\n                    \"expected_file_hash\": \"bf8fcf7d53f4085a0d47428d5462571e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_qenicw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_qenicw_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"qenicw\",\n                    \"scale\": [\n                        0.9999836683273315,\n                        0.9999991059303284,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"459a595d9ea0375935adfd08ff7a384e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_shvqqe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_shvqqe_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"shvqqe\",\n                    \"scale\": [\n                        0.9999994039535522,\n                        1.0000087022781372,\n                        0.9999756217002869\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"9cc00c03181d8a273ba2afb116ef5eba\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_tbhzzb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_tbhzzb_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"tbhzzb\",\n                    \"scale\": [\n                        0.9999912977218628,\n                        1.0000078678131104,\n                        0.9995139241218567\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"utility_room_0\"\n                    ],\n                    \"expected_file_hash\": \"43de6d1771691f13e96124dcaff302d5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_tcwyvb_0\": {\n                \"class_module\": 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            \"name\": \"ceilings_tjwkje_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"tjwkje\",\n                    \"scale\": [\n                        0.9999982714653015,\n                        0.999995231628418,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"6ecbd143b8d2620ca6f52edae9a23434\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_wbbkuv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_wbbkuv_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"wbbkuv\",\n                    \"scale\": [\n                        1.0000121593475342,\n                        0.9999978542327881,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\"\n                    ],\n                    \"expected_file_hash\": \"ceab944ad9d1ec4ea556be3f12c1186d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"countertop_kelker_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"countertop_kelker_0\",\n                    \"category\": \"countertop\",\n                    \"model\": \"kelker\",\n                    \"scale\": [\n                        0.9999452829360962,\n                        1.0000067949295044,\n                        1.0006266832351685\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"8cf2d6171e1727e4f72e2bdb8a99ac6d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"countertop_kelzer_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"countertop_kelzer_0\",\n                    \"category\": \"countertop\",\n                    \"model\": \"kelzer\",\n                    \"scale\": [\n                        1.0000444650650024,\n                        0.9999945759773254,\n                        1.0007061958312988\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"eb1e223a32a11560323fe400191a5946\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_crtrpa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_crtrpa_0\",\n                    \"category\": \"door\",\n                    \"model\": \"crtrpa\",\n                    \"scale\": [\n                        1.0000602006912231,\n                        1.0000410079956055,\n                        0.9999841451644897\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"3cbce294ba718e55e919669c15b69287\"\n                }\n            },\n            \"door_eduavq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_eduavq_0\",\n                    \"category\": \"door\",\n                    \"model\": \"eduavq\",\n                    \"scale\": [\n                        0.9997847676277161,\n                        1.0000203847885132,\n                        1.000014305114746\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"82cfec94808466309bf7678baae9e5b8\"\n                }\n            },\n            \"door_fnvpyu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_fnvpyu_0\",\n                    \"category\": \"door\",\n                    \"model\": \"fnvpyu\",\n                    \"scale\": [\n                        1.0002930164337158,\n                        0.999984085559845,\n                        1.000014066696167\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"4500c9a04b3a0a6f17978e01db468a8c\"\n                }\n            },\n            \"door_iuuykr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_iuuykr_0\",\n                    \"category\": \"door\",\n                    \"model\": \"iuuykr\",\n                    \"scale\": [\n                        1.000057339668274,\n                        1.0000216960906982,\n                        1.0000015497207642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"340c83a6b2eb5bb07f7aec84acb90754\"\n                }\n            },\n            \"door_kwbnhy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_kwbnhy_0\",\n                    \"category\": \"door\",\n                    \"model\": \"kwbnhy\",\n                    \"scale\": [\n                        1.0001516342163086,\n                        0.9999372363090515,\n                        0.9999863505363464\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"95ad7cba8b9cd960c4346528539433f0\"\n                }\n            },\n            \"door_kwbnhy_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_kwbnhy_1\",\n                    \"category\": \"door\",\n                    \"model\": \"kwbnhy\",\n                    \"scale\": [\n                        1.007671594619751,\n                        0.9999372363090515,\n                        0.9999863505363464\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"95ad7cba8b9cd960c4346528539433f0\"\n                }\n            },\n            \"door_kwbnhy_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_kwbnhy_2\",\n                    \"category\": \"door\",\n                    \"model\": \"kwbnhy\",\n                    \"scale\": [\n                        0.9946825504302979,\n                        0.9999372363090515,\n                        0.9999863505363464\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"95ad7cba8b9cd960c4346528539433f0\"\n                }\n            },\n            \"door_kwbnhy_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_kwbnhy_3\",\n                    \"category\": \"door\",\n                    \"model\": \"kwbnhy\",\n                    \"scale\": [\n                        1.0890235900878906,\n                        0.9999372363090515,\n                        0.9999863505363464\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_1\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"95ad7cba8b9cd960c4346528539433f0\"\n                }\n            },\n            \"door_tfdrhh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_tfdrhh_0\",\n                    \"category\": \"door\",\n                    \"model\": \"tfdrhh\",\n                    \"scale\": [\n                        1.0001115798950195,\n                        1.0000137090682983,\n                        0.9999946355819702\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"entryway_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f0fca856bb4567fe4ee89759a86a50da\"\n                }\n            },\n            \"door_tonlzz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_tonlzz_0\",\n                    \"category\": \"door\",\n                    \"model\": \"tonlzz\",\n                    \"scale\": [\n                        1.0001226663589478,\n                        1.000045895576477,\n                        0.9999911189079285\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\",\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"45ed1765b26e97c4213bb7dad0a765ea\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_fisfbn_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_10\",\n                    \"category\": \"downlight\",\n                    \"model\": \"fisfbn\",\n                    \"scale\": [\n                        1.0000314712524414,\n                        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\"scale\": [\n                        1.0029717683792114,\n                        0.999987781047821,\n                        1.0004713535308838\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"22ba55b5734c4e09554e4a450c18fb3e\"\n                }\n            },\n            \"electric_switch_gashan_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"electric_switch_gashan_11\",\n                    \"category\": \"electric_switch\",\n                    \"model\": \"gashan\",\n                    \"scale\": [\n                        1.0029717683792114,\n                        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\"floors_qgmjvd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_qgmjvd_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"qgmjvd\",\n                    \"scale\": [\n                        1.0000057220458984,\n                        1.000015377998352,\n                        0.9998500943183899\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"1b6e6970f71032c06915d3b050104761\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_qnvzkr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_qnvzkr_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"qnvzkr\",\n                    \"scale\": [\n                        1.0000104904174805,\n                        1.000004529953003,\n                        0.9999312162399292\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_1\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"822d6671d23b466a6d1fb96170775057\"\n                }\n            },\n            \"floors_shuuqu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"26eb3e4f7a8b01f6d39dc593dabf2cdc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_vcsslq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_vcsslq_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"vcsslq\",\n                    \"scale\": [\n                        1.0000104904174805,\n                        1.0000070333480835,\n                        0.9999312162399292\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n           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\"floors_yfyxxu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_yfyxxu_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"yfyxxu\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        1.0000355243682861,\n                        0.9999294877052307\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_3\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ded77d0247a0a00fbe996b158df375d6\"\n                }\n            },\n            \"floors_yibjol_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_yibjol_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"yibjol\",\n                    \"scale\": [\n                        1.0000231266021729,\n                        0.9999783039093018,\n                        0.9999303221702576\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_1\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2503942c02c52bd1f67761a5de8427f6\"\n                }\n            },\n            \"floors_yrqspn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_yrqspn_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"yrqspn\",\n                    \"scale\": [\n                        0.9999721646308899,\n                        1.000004768371582,\n                        0.9999330043792725\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"526853cccc73b9a8dbdd05cab58918e6\"\n                }\n            },\n            \"gas_fireplace_gwqitr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"gas_fireplace_gwqitr_0\",\n                    \"category\": \"gas_fireplace\",\n                    \"model\": \"gwqitr\",\n                    \"scale\": [\n                        0.9999507069587708,\n                        0.9999906420707703,\n                        1.0000510215759277\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"3d5c88bd97031c29a539844d5a45f703\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"lawn_wwoqjw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_wwoqjw_0\",\n                    \"category\": \"lawn\",\n                    \"model\": \"wwoqjw\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        0.9999285936355591\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f0230cf4f1ec24199c4feeef86ee9b0e\"\n                }\n            },\n            \"mirror_ndvgah_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mirror_ndvgah_0\",\n                    \"category\": \"mirror\",\n                    \"model\": \"ndvgah\",\n                    \"scale\": [\n                        0.9933433532714844,\n                        1.0000016689300537,\n                        1.0000172853469849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"entryway_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8acde3b993c7d6b44885a78d6f7ed11c\"\n                }\n            },\n            \"openable_window_eyvzfu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"openable_window_eyvzfu_0\",\n                    \"category\": \"openable_window\",\n                    \"model\": \"eyvzfu\",\n                    \"scale\": [\n                        0.999903678894043,\n                        0.9999958872795105,\n                        1.0000061988830566\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"bc3759ed7570b838b65b568d0576586e\"\n                }\n            },\n            \"oven_ffitak_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"oven_ffitak_0\",\n                    \"category\": \"oven\",\n                    \"model\": \"ffitak\",\n                    \"scale\": [\n                        0.9999300241470337,\n                        1.0000790357589722,\n                        1.000065803527832\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": 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     },\n            \"painting_jreujf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_jreujf_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"jreujf\",\n                    \"scale\": [\n                        0.9992155432701111,\n                        1.000004529953003,\n                        0.999982476234436\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"01e49f935ee5fd482cc86b75230303e1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_0\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"pot_plant_xcybvc_1\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"1e10fcd46a0c9a039c6352fae0b9bfac\"\n                }\n            },\n            \"pot_plant_xcybvc_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_2\",\n                    \"category\": 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0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"1e10fcd46a0c9a039c6352fae0b9bfac\"\n                }\n            },\n            \"pot_plant_xcybvc_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_5\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_5\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a50ddf73bdd67f4581237e1595db9390\"\n                }\n            },\n            \"shelf_amyper_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": 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1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a50ddf73bdd67f4581237e1595db9390\"\n                }\n            },\n            \"shelf_amyper_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_9\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a50ddf73bdd67f4581237e1595db9390\"\n                }\n            },\n            \"shelf_pfusrd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_pfusrd_0\",\n                    \"category\": \"shelf\",\n                    \"model\": \"pfusrd\",\n                    \"scale\": [\n                        1.0000033378601074,\n                        0.9999434351921082,\n                        1.0000749826431274\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"28dcd837ac5a0ec19878db4824c9b919\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_pfusrd_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_pfusrd_1\",\n                    \"category\": \"shelf\",\n                    \"model\": \"pfusrd\",\n                    \"scale\": [\n                        1.0000033378601074,\n                        0.9999434351921082,\n                        1.0000749826431274\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"28dcd837ac5a0ec19878db4824c9b919\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"showerhead_vuswbv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"showerhead_vuswbv_0\",\n                    \"category\": \"showerhead\",\n                    \"model\": \"vuswbv\",\n                    \"scale\": [\n                        1.0000189542770386,\n                        1.000184416770935,\n                        0.9999966621398926\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"7a48d3750bccaddbfd894f9780986748\"\n                }\n            },\n        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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_0\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0000165700912476,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bedroom_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"40ed8eaabcb9c3f7dc12d5661f93535c\"\n                }\n            },\n            \"sliding_door_tprpvb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n      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   \"args\": {\n                    \"name\": \"sliding_door_tprpvb_10\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.001861810684204,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\",\n                        \"bathroom_1\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"40ed8eaabcb9c3f7dc12d5661f93535c\"\n                }\n            },\n            \"sliding_door_tprpvb_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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\"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.2041987180709839,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"40ed8eaabcb9c3f7dc12d5661f93535c\"\n                }\n            },\n            \"sliding_door_tprpvb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_2\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    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\"closet_4\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"40ed8eaabcb9c3f7dc12d5661f93535c\"\n                }\n            },\n            \"sliding_door_tprpvb_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_9\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.9854320883750916,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\",\n                        \"closet_1\"\n                    ],\n                    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                  \"model\": \"vnvmkx\",\n                    \"scale\": [\n                        0.9999980926513672,\n                        1.0000009536743164,\n                        1.0000349283218384\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"180b77d5b4c19d263e0aee86d6c88508\"\n                }\n            },\n            \"top_cabinet_lkxmne_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"top_cabinet_lkxmne_0\",\n                    \"category\": \"top_cabinet\",\n                    \"model\": \"lkxmne\",\n                    \"scale\": [\n                        0.9998805522918701,\n                        1.000040054321289,\n                        1.0000317096710205\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"top_cabinet_lkxmne_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"top_cabinet_lkxmne_1\",\n                    \"category\": \"top_cabinet\",\n                    \"model\": \"lkxmne\",\n                    \"scale\": [\n                        0.9998805522918701,\n                        1.000040054321289,\n                        1.0000317096710205\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"top_cabinet_lkxmne_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"top_cabinet_lkxmne_2\",\n                    \"category\": \"top_cabinet\",\n                    \"model\": \"lkxmne\",\n                    \"scale\": [\n                        0.9998805522918701,\n                        1.000040054321289,\n                        1.0000317096710205\n                    ],\n                    \"fixed_base\": true,\n                   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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_yylrlu_4\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"yylrlu\",\n                    \"scale\": [\n                        1.0000600814819336,\n                        0.9999998807907104,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_tv_ovzajm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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1.0000147819519043,\n                        0.9997085332870483,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f114a366da290418bf0ecab0a37cd8fc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_akntsr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_akntsr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"akntsr\",\n                    \"scale\": [\n                        0.9997666478157043,\n                        1.0000017881393433,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n      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\"bddl_object_scope\": null\n                }\n            },\n            \"walls_axkjhh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_axkjhh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"axkjhh\",\n                    \"scale\": [\n                        1.0000401735305786,\n                        0.9999582171440125,\n                        1.0000284910202026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"96503b6a723c2cd7019f512e6d298c90\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_babjhv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_babjhv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"babjhv\",\n                    \"scale\": [\n                        0.9998753070831299,\n                        0.9999241232872009,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e63842a6e56a31f1d617c8e3a2d9dabd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_baibaz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_baibaz_0\",\n                    \"category\": \"walls\",\n             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           \"expected_file_hash\": \"62b1b6c63c549257897578d856342d87\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_btcoak_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_btcoak_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"btcoak\",\n                    \"scale\": [\n                        1.0000944137573242,\n                        0.9999912977218628,\n                        0.9999747276306152\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"44b642c7536ebe3fc1c503090c878bb5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_chsrxr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_chsrxr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"chsrxr\",\n                    \"scale\": [\n                        0.9999439120292664,\n                        1.000038981437683,\n                        1.0000029802322388\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"5477ad11646f63a6c279c6ab150169d9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_chtiea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n     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          \"category\": \"walls\",\n                    \"model\": \"duatwe\",\n                    \"scale\": [\n                        1.0000064373016357,\n                        0.9996722340583801,\n                        1.0001468658447266\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2b24ad38a73bf6c989f58d3442afcd72\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_duepvi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_duepvi_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"duepvi\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9998845458030701,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fd44579bc2412659790ede22ae3f5a26\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_esuxme_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_esuxme_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"esuxme\",\n                    \"scale\": [\n                        1.0001020431518555,\n                        1.0000150203704834,\n                        1.0000441074371338\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n     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  }\n            },\n            \"walls_fdxtnx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fdxtnx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fdxtnx\",\n                    \"scale\": [\n                        0.999995768070221,\n                        0.9998922348022461,\n                        0.9998988509178162\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3b9394cc62a797d6e72d377abc84eb7d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ffeqfb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n 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      \"scale\": [\n                        0.9999951124191284,\n                        1.0000271797180176,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9107a6e2cdc12fa39876f5901f76f442\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fkmigx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fkmigx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fkmigx\",\n                    \"scale\": [\n                        0.9999145865440369,\n                        1.0000003576278687,\n                        0.9999576807022095\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cf395fc0aa326ffa44f6b86e49c33da4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_frgwwc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_frgwwc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"frgwwc\",\n                    \"scale\": [\n                        1.0000039339065552,\n                        1.0000317096710205,\n                        1.0000046491622925\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"86cfd0171907e7be2bd389df5d50e3b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fuiqpw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fuiqpw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fuiqpw\",\n                    \"scale\": [\n                        0.9999467730522156,\n                        1.000038743019104,\n                        0.9999513030052185\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d0896aba5322ad78088de26aad682484\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fvckzc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fvckzc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fvckzc\",\n                    \"scale\": [\n                        0.9998689293861389,\n                        0.9999626278877258,\n                        0.9999513030052185\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"366122c87b60e8d73329bea949462b50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fxeanq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fxeanq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fxeanq\",\n                    \"scale\": [\n                        0.9999138712882996,\n                        0.999982476234436,\n                        1.0000100135803223\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"51d2424ee7297ba15ebe8a6298445de9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fxofyj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fxofyj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fxofyj\",\n                    \"scale\": [\n                        1.0000901222229004,\n                        0.9999547004699707,\n                        0.9999491572380066\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"27fb159fdd8fa8fafb7ad9209368df48\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fyjrnv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fyjrnv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fyjrnv\",\n                    \"scale\": [\n                        0.999866783618927,\n                        0.9999337792396545,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"24b4f8a4121e24e37580bd5855520f13\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ggtriw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ggtriw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ggtriw\",\n                    \"scale\": [\n                        1.0001455545425415,\n                        0.9999977946281433,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fa80baaadf7bf7f3e9d807082fb42367\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gjrlnv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gjrlnv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gjrlnv\",\n                    \"scale\": [\n                        0.9999542236328125,\n                        1.000038743019104,\n                        1.0000239610671997\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7508a533e6735b38373cfe46dc91f4ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkmbnp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkmbnp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkmbnp\",\n                    \"scale\": [\n                        0.9999883770942688,\n                        1.0000717639923096,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"03aafa408e5b97e10d988877b2b0b7cb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkmwvy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkmwvy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkmwvy\",\n                    \"scale\": [\n                        1.0000468492507935,\n                        0.9999639987945557,\n                        0.9999344944953918\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ee732d7a95f1c83ee57a9044b9e2e2b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkwemu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkwemu_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkwemu\",\n                    \"scale\": [\n                        0.9997715950012207,\n                        0.9999929666519165,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6ed5f5c783d36924c6b68e191fc27244\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gmwqcf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gmwqcf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gmwqcf\",\n                    \"scale\": [\n                        0.9999575018882751,\n                        1.0000061988830566,\n                        1.0005370378494263\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a78266944e7d32b9d062607b28143a2c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gpfsgj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gpfsgj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gpfsgj\",\n                    \"scale\": [\n                        0.999993085861206,\n                        1.0000206232070923,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"38c25e2fdaa879d94e1e0f71317b27c5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_grbaxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_grbaxo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"grbaxo\",\n                    \"scale\": [\n                        0.9998166561126709,\n                        0.9999743700027466,\n                        0.9999679923057556\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cc8f8282ca7986d8b59d49dea7fecaa3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gupuvk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gupuvk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gupuvk\",\n                    \"scale\": [\n                        0.9999587535858154,\n                        1.000302791595459,\n                        1.0000627040863037\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b2136b725f567e6307ea8436ff20e4bf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_guxxwh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_guxxwh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"guxxwh\",\n                    \"scale\": [\n                        0.9998859167098999,\n                        1.0000396966934204,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0899d28676cc8b7f9a6ea2a11ce9f67c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hajmoj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hajmoj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hajmoj\",\n                    \"scale\": [\n                        1.000004768371582,\n                        0.9999983310699463,\n                        0.9999830722808838\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"bb538a88805a4cd63976d4b918aff4e6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hbacbx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hbacbx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hbacbx\",\n                    \"scale\": [\n                        1.0000141859054565,\n                        1.000041127204895,\n                        1.0000261068344116\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"39ee95a560a06ea1e357a8cff8a58120\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hczqhb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hczqhb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hczqhb\",\n                    \"scale\": [\n                        1.0000282526016235,\n                        0.999974250793457,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3ad447b6d13fc55da48ea17b28679ec9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hfxeuh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hfxeuh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hfxeuh\",\n                    \"scale\": [\n                        0.9997124075889587,\n                        0.9999848008155823,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7604afa1a38cd7ff0d1095f0373e5317\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hgaazx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hgaazx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hgaazx\",\n                    \"scale\": [\n                        0.9999676942825317,\n                        0.9998993277549744,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80c9e610d9946456ba24615a72273e46\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hhbfdf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hhbfdf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hhbfdf\",\n                    \"scale\": [\n          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            \"bddl_object_scope\": null\n                }\n            },\n            \"walls_htpoqj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_htpoqj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"htpoqj\",\n                    \"scale\": [\n                        1.0000275373458862,\n                        1.000287413597107,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"725c81c7b6a082a0f843e2065b5d6210\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hwzmyf_0\": {\n                \"class_module\": 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       \"scale\": [\n                        0.9999164342880249,\n                        1.0001364946365356,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ce775fa8e46eaf353af5d78cabe6b4f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jshqhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jshqhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jshqhr\",\n                    \"scale\": [\n                        1.0000842809677124,\n                        1.0000399351119995,\n                        0.9999491572380066\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9805d60e2b8222dc7daf2c2bb8973ec0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jxctiw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jxctiw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jxctiw\",\n                    \"scale\": [\n                        1.0003010034561157,\n                        0.9999635815620422,\n                        1.0000308752059937\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_kkltnz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"kkltnz\",\n                    \"scale\": [\n                        0.9999747276306152,\n                        1.0001676082611084,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b9764b000c7e78a039f14b35a0e5123c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_knhryu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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1.0000466108322144,\n                        1.000028133392334,\n                        1.0000613927841187\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7eb94ce67345cc5f24e070cd9eb436d8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lbxvwa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lbxvwa_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lbxvwa\",\n                    \"scale\": [\n                        1.0,\n                        1.0000089406967163,\n                        1.0000019073486328\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3e9954ea345d1f7d46af1abc19707c87\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lmjkkp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lmjkkp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lmjkkp\",\n                    \"scale\": [\n                        0.9999988079071045,\n                        0.9998951554298401,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8b8043d382af6ad5ed8dfd4c02178b48\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ltqrqp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ltqrqp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ltqrqp\",\n                    \"scale\": [\n                        1.0001306533813477,\n                        0.9999893307685852,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f2e5ea72a37ddb2f569474e8d1beb0e9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lveewk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lveewk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lveewk\",\n                    \"scale\": [\n                        0.9999539852142334,\n                        0.9998413920402527,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8eabb4f1a54f560b979ca631ebf8baff\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lxqjnd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lxqjnd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lxqjnd\",\n                    \"scale\": [\n                        1.0001026391983032,\n                        0.9999812841415405,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"06a955dbe7d2c2c51bd289ede3f42f37\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lzkdkf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lzkdkf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lzkdkf\",\n                    \"scale\": [\n                        1.0000964403152466,\n                        0.9999716877937317,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b18cacf16971dd784c2f5675be580928\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgwnwy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgwnwy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgwnwy\",\n                    \"scale\": [\n                        0.9999656677246094,\n                        1.0001095533370972,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3051fe46dfab985bd2583932cf66add5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mianco_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mianco_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mianco\",\n                    \"scale\": [\n                        1.0000030994415283,\n                        0.9998830556869507,\n                        1.0000033378601074\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6409d5aac1db60adc7068f56a98d4925\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mxhvpj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mxhvpj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mxhvpj\",\n                    \"scale\": [\n                        0.9999787211418152,\n                        1.0001676082611084,\n                        1.0000613927841187\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"567e4e9bd6742e449f5bea6f52038f97\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_nfmhed_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_nfmhed_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"nfmhed\",\n                    \"scale\": [\n                        0.9999906420707703,\n                        1.0001713037490845,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2d2ff9742ad450d478dde5d95b69bb80\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_nhvigl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_nhvigl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"nhvigl\",\n                    \"scale\": [\n                        1.0002909898757935,\n                        0.9999896883964539,\n                        1.0000035762786865\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8f4aa6726788b96bf03ea511469ca953\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_noclci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_noclci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"noclci\",\n                    \"scale\": [\n                        1.0002578496932983,\n                        0.9999694228172302,\n                        1.0000033378601074\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7a1d4083f573696b12042db81cfad4bf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_nuaoac_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_nuaoac_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"nuaoac\",\n                    \"scale\": [\n                        1.000181794166565,\n                        0.9999966621398926,\n                        1.0000261068344116\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0003a9502ffc9a44fdf051531590c768\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oehfxy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oehfxy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oehfxy\",\n                    \"scale\": [\n                        1.000117301940918,\n                        1.0000636577606201,\n                        0.9999576807022095\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6229160fc14651a9f11e8a46e9a1388d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_olxjsy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_olxjsy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"olxjsy\",\n                    \"scale\": [\n                        1.0000041723251343,\n                        0.9997128248214722,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d6f821741d95f3a6c9304f92f5fc5d08\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_olywna_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_olywna_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"olywna\",\n                    \"scale\": [\n                        0.9999077916145325,\n                        1.0000104904174805,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8a942cd9259129d8d4e57af2f874f82e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ondmvj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ondmvj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ondmvj\",\n                    \"scale\": [\n                        1.0001270771026611,\n                        1.0000394582748413,\n                        0.9999598860740662\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cf91063b27fd6f6c2a20f159933dbfe8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_onwdhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_onwdhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"onwdhr\",\n                    \"scale\": [\n                        0.999975860118866,\n                        0.9998258948326111,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c2f5579862555918caa5c4d26cd049c4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ooixcz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ooixcz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ooixcz\",\n                    \"scale\": [\n                        1.0000063180923462,\n                        1.0000216960906982,\n                        0.9999969005584717\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8931d85797f87d0ca51e2426c7880326\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oyhdlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oyhdlq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oyhdlq\",\n                    \"scale\": [\n                        0.9998031258583069,\n                        1.0000176429748535,\n                        1.0000320672988892\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e8cc47abcd54dace7edeeb38394d15ab\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_paognv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n        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               \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a241c675555338c7b67f5857a486889b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_snssjy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_snssjy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"snssjy\",\n                    \"scale\": [\n                        0.9999773502349854,\n                        1.0001850128173828,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0e079af31d2fcc0649e429cfcc265da2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_somuet_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_somuet_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"somuet\",\n                    \"scale\": [\n                        1.000002384185791,\n                        1.0000072717666626,\n                        1.000004768371582\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\"\n                    ],\n                    \"expected_file_hash\": \"23aa1dd90db138e86ea6a81b933dfd31\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_soubdp_0\": {\n                \"class_module\": 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1.000003457069397,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b2d3b397bb8e73572e203a41d5e063ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_thipzw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_thipzw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"thipzw\",\n                    \"scale\": [\n                        1.000144362449646,\n                        0.9999874234199524,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f1652309c5675e12099448c42f246b23\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tlcifm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tlcifm_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tlcifm\",\n                    \"scale\": [\n                        0.9999516606330872,\n                        0.9999920129776001,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"acd76a72e12f34dfd8b2188395783a6b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tvjrao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tvjrao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tvjrao\",\n                    \"scale\": [\n                        1.0000044107437134,\n                        0.9997362494468689,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1d113b2f1166f2a11c8e7e280e1b5834\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tyjlww_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tyjlww_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tyjlww\",\n                    \"scale\": [\n                        0.999956488609314,\n                        1.0001850128173828,\n                        0.9999752640724182\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"676de304599f95421be37abedf02dfb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ubgakb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ubgakb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ubgakb\",\n                    \"scale\": [\n                        0.9999848008155823,\n                        1.0,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"41212fd074369e0a4025775c24c833c8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ubscrh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ubscrh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ubscrh\",\n                    \"scale\": [\n                        1.0000135898590088,\n                        0.9998775124549866,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9221770c576094379840d89799d5ce7d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_udgvuj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_udgvuj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"udgvuj\",\n                    \"scale\": [\n                        0.9998785257339478,\n                        0.9998557567596436,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4e277ddc9f07bd76b0a5471754c17869\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_udqkcs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_udqkcs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"udqkcs\",\n                    \"scale\": [\n                        0.9999690055847168,\n                        0.9999529719352722,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"35806e68ee15064a3769cfc729ac3a3e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uplnmr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uplnmr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uplnmr\",\n                    \"scale\": [\n                        1.0001013278961182,\n                        0.9999964237213135,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0b17866659cd01fd4a0e20d05d9d7ea0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_urngpl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_urngpl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"urngpl\",\n                    \"scale\": [\n                        0.9999960660934448,\n                        1.0001499652862549,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0f87c3e4ef2d0e85b110f1f2ad4924f5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uubhfj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uubhfj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uubhfj\",\n                    \"scale\": [\n                        0.9999725222587585,\n                        0.9998858571052551,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9f5816607a08ec5363d35183a9ae7129\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uuxqzk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uuxqzk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uuxqzk\",\n                    \"scale\": [\n                        0.9997155070304871,\n                        0.999993085861206,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bf1058fd19b5ed6ebc777a3191de8381\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uvgxro_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uvgxro_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uvgxro\",\n                    \"scale\": [\n                        1.0002046823501587,\n                        1.000001311302185,\n                        0.9999594688415527\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4b71fb277cb8a29dd1e2d93b0b0468a2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uxcfbp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uxcfbp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uxcfbp\",\n                    \"scale\": [\n                        1.0000423192977905,\n                        0.9998830556869507,\n                        1.0000033378601074\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"efd75340071552b755b0435ac75ba5a3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uxgkxd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uxgkxd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uxgkxd\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        0.9999704957008362,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"67ffee9d78208ca1676b2abac170551d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uzxqqb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uzxqqb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uzxqqb\",\n                    \"scale\": [\n                        0.999995768070221,\n                        1.0001778602600098,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8d90b08abd843b5d1d81754c1503360d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vcftmx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vcftmx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vcftmx\",\n                    \"scale\": [\n                        1.0000114440917969,\n                        1.0001753568649292,\n                        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        \"expected_file_hash\": \"c36f245f4ce0114e8840558266936fc0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vdywfg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vdywfg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vdywfg\",\n                    \"scale\": [\n                        0.999976634979248,\n                        1.0002204179763794,\n                        1.0000320672988892\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c957fbf1c39a9663e580205244f213e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            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\"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_6\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                     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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4dea63879e6171f3084843e7eb7502a4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wtpbpe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wtpbpe_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wtpbpe\",\n                    \"scale\": [\n                        0.99996417760849,\n                        1.0002048015594482,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xbotyv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xbotyv\",\n                    \"scale\": [\n                        0.999990701675415,\n                        0.9999972581863403,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a7af5e29aceeadd78a7f60fc479890d8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xjxddw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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              \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bd4ae787ba10b4535634dc240df8bf37\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zfhsih_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zfhsih_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zfhsih\",\n                    \"scale\": [\n                        1.0000901222229004,\n                        0.9999537467956543,\n                        1.0000230073928833\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b1feb2f954c85beb8b16599c1345b665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zpjckn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zpjckn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zpjckn\",\n                    \"scale\": [\n                        0.9999418258666992,\n                        1.00014328956604,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bc98b25d967db14c19a246e9520bbb4f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zqexop_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zqexop_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zqexop\",\n                    \"scale\": [\n                        0.9999964833259583,\n                        0.999962329864502,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"44d8b22376fb10122b86bfb5aaa108f6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zufhrv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zufhrv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zufhrv\",\n                    \"scale\": [\n                        1.0000169277191162,\n                        1.0000722408294678,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8e266a33536dadd2b83d79f0f6b0f4ea\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zxlndv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zxlndv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zxlndv\",\n                    \"scale\": [\n                        0.9999450445175171,\n                        1.0000429153442383,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9448a0bb2b54ef1707e73c3a9a4e7142\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zxyurx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zxyurx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zxyurx\",\n                    \"scale\": [\n                        0.9999738335609436,\n                        1.0000016689300537,\n                        1.0000286102294922\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80cb1fe69d53685ae693fff5407c79d5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bratwurst_230\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bratwurst_230\",\n                    \"category\": \"bratwurst\",\n                    \"model\": \"pqfrrn\",\n                    \"scale\": [\n                        0.49990129470825195,\n                        0.49989089369773865,\n                        0.49982818961143494\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c1a1bd4da0f8a80adff37b3f28ff3bab\"\n                }\n            },\n            \"bratwurst_231\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bratwurst_231\",\n                    \"category\": \"bratwurst\",\n                    \"model\": \"pqfrrn\",\n                    \"scale\": [\n                        0.49990129470825195,\n                        0.49989089369773865,\n                        0.49982818961143494\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c1a1bd4da0f8a80adff37b3f28ff3bab\"\n                }\n            },\n            \"bratwurst_232\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bratwurst_232\",\n                    \"category\": \"bratwurst\",\n                    \"model\": \"pqfrrn\",\n                    \"scale\": [\n                        0.49990129470825195,\n                        0.49989089369773865,\n                        0.49982818961143494\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c1a1bd4da0f8a80adff37b3f28ff3bab\"\n                }\n            },\n            \"bratwurst_233\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bratwurst_233\",\n                    \"category\": \"bratwurst\",\n                    \"model\": \"pqfrrn\",\n                    \"scale\": [\n                        0.49990129470825195,\n                        0.49989089369773865,\n                 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  \"expected_file_hash\": \"9fe62bfe4b6d3fa1883f2d821d18c776\"\n                }\n            },\n            \"hinged_jar_235\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hinged_jar_235\",\n                    \"category\": \"hinged_jar\",\n                    \"model\": \"vzwhbg\",\n                    \"scale\": [\n                        0.8999999761581421,\n                        0.8999999761581421,\n                        0.8999999761581421\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"8dfec74f8a81d911f697c59df5cb10a8\"\n                }\n            },\n            \"hinged_jar_236\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hinged_jar_236\",\n                    \"category\": \"hinged_jar\",\n                    \"model\": \"vzwhbg\",\n                    \"scale\": [\n                        0.8999999761581421,\n                        0.8999999761581421,\n                        0.8999999761581421\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"8dfec74f8a81d911f697c59df5cb10a8\"\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": 12771,
+    "num_samples": 12771,
+    "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",
+        "hinged_jar.n.01_1_real",
+        "hinged_jar.n.01_1_pos",
+        "hinged_jar.n.01_1_ori_cos",
+        "hinged_jar.n.01_1_ori_sin",
+        "hinged_jar.n.01_1_in_gripper_left",
+        "hinged_jar.n.01_1_in_gripper_right",
+        "hinged_jar.n.01_2_real",
+        "hinged_jar.n.01_2_pos",
+        "hinged_jar.n.01_2_ori_cos",
+        "hinged_jar.n.01_2_ori_sin",
+        "hinged_jar.n.01_2_in_gripper_left",
+        "hinged_jar.n.01_2_in_gripper_right",
+        "cabinet.n.01_1_real",
+        "cabinet.n.01_1_pos",
+        "cabinet.n.01_1_ori_cos",
+        "cabinet.n.01_1_ori_sin",
+        "cabinet.n.01_1_in_gripper_left",
+        "cabinet.n.01_1_in_gripper_right",
+        "countertop.n.01_1_real",
+        "countertop.n.01_1_pos",
+        "countertop.n.01_1_ori_cos",
+        "countertop.n.01_1_ori_sin",
+        "countertop.n.01_1_in_gripper_left",
+        "countertop.n.01_1_in_gripper_right",
+        "chopping_board.n.01_1_real",
+        "chopping_board.n.01_1_pos",
+        "chopping_board.n.01_1_ori_cos",
+        "chopping_board.n.01_1_ori_sin",
+        "chopping_board.n.01_1_in_gripper_left",
+        "chopping_board.n.01_1_in_gripper_right",
+        "bratwurst.n.01_1_real",
+        "bratwurst.n.01_1_pos",
+        "bratwurst.n.01_1_ori_cos",
+        "bratwurst.n.01_1_ori_sin",
+        "bratwurst.n.01_1_in_gripper_left",
+        "bratwurst.n.01_1_in_gripper_right",
+        "bratwurst.n.01_2_real",
+        "bratwurst.n.01_2_pos",
+        "bratwurst.n.01_2_ori_cos",
+        "bratwurst.n.01_2_ori_sin",
+        "bratwurst.n.01_2_in_gripper_left",
+        "bratwurst.n.01_2_in_gripper_right",
+        "bratwurst.n.01_3_real",
+        "bratwurst.n.01_3_pos",
+        "bratwurst.n.01_3_ori_cos",
+        "bratwurst.n.01_3_ori_sin",
+        "bratwurst.n.01_3_in_gripper_left",
+        "bratwurst.n.01_3_in_gripper_right",
+        "bratwurst.n.01_4_real",
+        "bratwurst.n.01_4_pos",
+        "bratwurst.n.01_4_ori_cos",
+        "bratwurst.n.01_4_ori_sin",
+        "bratwurst.n.01_4_in_gripper_left",
+        "bratwurst.n.01_4_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/range_hood_beanpv_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/bush_knspbi_2/base_link/visuals\", \"4\": \"/World/scene_0/bush_pjhpwk_1/base_link/visuals\", \"5\": \"/World/scene_0/bush_lfyqkj_0/base_link/visuals\", \"6\": \"/World/scene_0/bush_knspbi_3/base_link/visuals\", \"7\": \"/World/scene_0/coffee_table_rlsebe_0/base_link/visuals\", \"8\": \"/World/scene_0/tree_rrhqpw_0/base_link/visuals\", \"9\": \"/World/scene_0/bottom_cabinet_rhdbzv_0/base_link/visuals\", \"10\": \"/World/scene_0/tree_rrhqpw_13/base_link/visuals\", \"11\": \"/World/scene_0/tree_dyymaq_2/base_link/visuals\", \"12\": \"/World/scene_0/bottom_cabinet_rhdbzv_0/right_drawer/visuals\", \"13\": \"/World/scene_0/bratwurst_232/base_link/visuals\", \"14\": \"/World/scene_0/armchair_qhcrgb_0/base_link/visuals\", \"15\": \"/World/scene_0/fridge_dszchb_0/link_0/visuals\", \"16\": \"/World/scene_0/tree_rrhqpw_5/base_link/visuals\", \"17\": \"/World/scene_0/range_hood_beanpv_0/base_link/visuals\", \"18\": \"/World/scene_0/bush_ebuvur_0/base_link/visuals\", \"19\": \"/World/scene_0/hinged_jar_236/rb1/visuals\", \"20\": \"/World/scene_0/hinged_jar_236/base_link/visuals\", \"21\": \"/World/scene_0/hinged_jar_235/rb1/visuals\", \"22\": \"/World/scene_0/hinged_jar_235/base_link/visuals\", \"23\": \"/World/scene_0/cutting_board_234/base_link/visuals\", \"24\": \"/World/scene_0/bratwurst_233/base_link/visuals\", \"25\": \"/World/scene_0/bratwurst_231/base_link/visuals\", \"26\": \"/World/scene_0/bratwurst_230/base_link/visuals\", \"27\": \"/World/scene_0/walls_zxyurx_0/base_link/visuals\", \"28\": \"/World/scene_0/walls_zxlndv_0/base_link/visuals\", \"29\": \"/World/scene_0/walls_zufhrv_0/base_link/visuals\", \"30\": \"/World/scene_0/walls_zqexop_0/base_link/visuals\", \"31\": \"/World/scene_0/walls_zpjckn_0/base_link/visuals\", \"32\": \"/World/scene_0/walls_zfhsih_0/base_link/visuals\", \"33\": \"/World/scene_0/walls_xnutie_0/base_link/visuals\", \"34\": \"/World/scene_0/walls_xjxddw_0/base_link/visuals\", \"35\": \"/World/scene_0/walls_xbotyv_0/base_link/visuals\", \"36\": \"/World/scene_0/walls_wveiea_0/base_link/visuals\", \"37\": \"/World/scene_0/walls_wtpbpe_0/base_link/visuals\", \"38\": \"/World/scene_0/walls_wrodjv_0/base_link/visuals\", \"39\": \"/World/scene_0/walls_wjlqlb_6/base_link/visuals\", \"40\": \"/World/scene_0/walls_wjlqlb_5/base_link/visuals\", \"41\": \"/World/scene_0/walls_wjlqlb_4/base_link/visuals\", \"42\": \"/World/scene_0/walls_wjlqlb_3/base_link/visuals\", \"43\": \"/World/scene_0/walls_wjlqlb_2/base_link/visuals\", \"44\": \"/World/scene_0/walls_wjlqlb_1/base_link/visuals\", \"45\": \"/World/scene_0/walls_wjlqlb_0/base_link/visuals\", \"46\": \"/World/scene_0/walls_wbjwyy_0/base_link/visuals\", \"47\": \"/World/scene_0/walls_vpuhwn_0/base_link/visuals\", \"48\": \"/World/scene_0/walls_vmsoas_0/base_link/visuals\", \"49\": \"/World/scene_0/walls_vfibix_0/base_link/visuals\", \"50\": \"/World/scene_0/walls_vdywfg_0/base_link/visuals\", \"51\": \"/World/scene_0/walls_vcgulk_0/base_link/visuals\", \"52\": \"/World/scene_0/walls_vcftmx_0/base_link/visuals\", \"53\": \"/World/scene_0/walls_uzxqqb_0/base_link/visuals\", \"54\": \"/World/scene_0/walls_uxgkxd_0/base_link/visuals\", \"55\": \"/World/scene_0/walls_uxcfbp_0/base_link/visuals\", \"56\": \"/World/scene_0/walls_uvgxro_0/base_link/visuals\", \"57\": \"/World/scene_0/walls_uuxqzk_0/base_link/visuals\", \"58\": \"/World/scene_0/walls_uubhfj_0/base_link/visuals\", \"59\": \"/World/scene_0/walls_urngpl_0/base_link/visuals\", \"60\": \"/World/scene_0/walls_uplnmr_0/base_link/visuals\", \"61\": \"/World/scene_0/walls_udqkcs_0/base_link/visuals\", \"62\": \"/World/scene_0/walls_udgvuj_0/base_link/visuals\", \"63\": \"/World/scene_0/walls_ubscrh_0/base_link/visuals\", \"64\": \"/World/scene_0/walls_ubgakb_0/base_link/visuals\", \"65\": \"/World/scene_0/walls_tyjlww_0/base_link/visuals\", \"66\": \"/World/scene_0/walls_tvjrao_0/base_link/visuals\", \"67\": \"/World/scene_0/walls_tlcifm_0/base_link/visuals\", \"68\": \"/World/scene_0/walls_thipzw_0/base_link/visuals\", \"69\": \"/World/scene_0/walls_tdzxzv_0/base_link/visuals\", \"70\": \"/World/scene_0/walls_tcizfi_0/base_link/visuals\", \"71\": \"/World/scene_0/walls_soubdp_0/base_link/visuals\", \"72\": \"/World/scene_0/walls_somuet_0/base_link/visuals\", \"73\": \"/World/scene_0/walls_snssjy_0/base_link/visuals\", \"74\": \"/World/scene_0/walls_skoxkp_0/base_link/visuals\", \"75\": \"/World/scene_0/walls_sgqckc_0/base_link/visuals\", \"76\": \"/World/scene_0/walls_rogorx_0/base_link/visuals\", \"77\": \"/World/scene_0/walls_rfpiin_0/base_link/visuals\", \"78\": \"/World/scene_0/walls_rdcvhx_0/base_link/visuals\", \"79\": \"/World/scene_0/walls_qzwuwo_0/base_link/visuals\", \"80\": 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\"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"95\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"96\": \"/World/scene_0/bush_lfyqkj_5/base_link/visuals\", \"97\": \"/World/scene_0/armchair_qhcrgb_5/base_link/visuals\", \"98\": \"/World/scene_0/bush_ebuvur_1/base_link/visuals\", \"99\": \"/World/scene_0/bush_kyghri_3/base_link/visuals\", \"100\": \"/World/scene_0/bush_lfyqkj_4/base_link/visuals\", \"101\": \"/World/scene_0/bush_xsqlhv_1/base_link/visuals\", \"102\": \"/World/scene_0/charcoal_grill_crdaeu_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"103\": \"/World/scene_0/charcoal_grill_crdaeu_0/leaf/visuals\", \"104\": \"/World/scene_0/charcoal_grill_crdaeu_0/base_link/visuals\", \"105\": \"/World/scene_0/tree_flkzbo_1/base_link/visuals\", \"106\": \"/World/scene_0/tree_flkzbo_7/base_link/visuals\", \"107\": \"/World/scene_0/tree_rrhqpw_12/base_link/visuals\", \"108\": 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\"166\": \"/World/scene_0/shelf_amyper_3/base_link/visuals\", \"167\": \"/World/scene_0/sliding_door_tprpvb_11/movingpart/visuals\", \"168\": \"/World/scene_0/sliding_door_tprpvb_11/base_link/visuals\", \"169\": \"/World/scene_0/sliding_door_tprpvb_9/movingpart/visuals\", \"170\": \"/World/scene_0/sliding_door_tprpvb_9/base_link/visuals\", \"171\": \"/World/scene_0/wall_mounted_light_yylrlu_1/base_link/visuals\", \"172\": \"/World/scene_0/walls_akntsr_0/base_link/visuals\", \"173\": \"/World/scene_0/walls_btcoak_0/base_link/visuals\", \"174\": \"/World/scene_0/walls_duatwe_0/base_link/visuals\", \"175\": \"/World/scene_0/walls_fglkmr_0/base_link/visuals\", \"176\": \"/World/scene_0/walls_fyjrnv_0/base_link/visuals\", \"177\": \"/World/scene_0/walls_gpfsgj_0/base_link/visuals\", \"178\": \"/World/scene_0/walls_hfxeuh_0/base_link/visuals\", \"179\": \"/World/scene_0/walls_hwzmyf_0/base_link/visuals\", \"180\": \"/World/scene_0/walls_jshqhr_0/base_link/visuals\", \"181\": 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\ No newline at end of file