diff --git "a/meta/episodes/task-0005/episode_00050920.json" "b/meta/episodes/task-0005/episode_00050920.json"
new file mode 100644--- /dev/null
+++ "b/meta/episodes/task-0005/episode_00050920.json"
@@ -0,0 +1,205 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_setting_mousetraps_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cabinet.n.01_1\": \"bottom_cabinet_jhymlr_0\", \"floor.n.01_1\": \"floors_tfuahz_0\", \"mousetrap.n.01_1\": \"mousetrap_50\", \"mousetrap.n.01_2\": \"mousetrap_49\", \"mousetrap.n.01_3\": \"mousetrap_48\", \"mousetrap.n.01_4\": \"mousetrap_47\", \"sink.n.01_1\": \"furniture_sink_ojjqku_0\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_double_floor_upper\", \"scene_instance\": \"house_double_floor_upper_task_setting_mousetraps_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_jhymlr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_jhymlr_0\", \"category\": \"bottom_cabinet\", \"model\": \"jhymlr\", \"scale\": [1.6128703355789185, 1.7241984605789185, 2.0688953399658203], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5768fc81dcf894b09d1da7973f938812\"}}, \"bottom_cabinet_nddvba_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_nddvba_0\", \"category\": \"bottom_cabinet\", \"model\": \"nddvba\", \"scale\": [0.919100284576416, 1.7930281162261963, 1.75520658493042], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_0\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_1\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_2\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_3\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_4\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_5\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_6\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"electric_switch_strbnw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_0\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"cd26cdf4218828dd96594770b29c0c7d\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_1\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_2\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_3\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"hook_akwlam_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hook_akwlam_0\", \"category\": \"hook\", \"model\": \"akwlam\", \"scale\": [0.9989968538284302, 0.999685525894165, 0.9994485974311829], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"70964dcc6fb99eeb3b2174e2df0c44f9\"}}, \"stairs_tikozn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"stairs_tikozn_0\", \"category\": \"stairs\", \"model\": \"tikozn\", \"scale\": [0.9999832510948181, 0.9999979138374329, 1.0000052452087402], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"serving_cart_vvtcby_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"serving_cart_vvtcby_0\", \"category\": \"serving_cart\", \"model\": \"vvtcby\", \"scale\": [1.0001310110092163, 0.9999819993972778, 1.0000241994857788], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"19e8a8e5214fe05dc14252404addc7a1\"}}, \"bookcase_eckdny_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_eckdny_0\", \"category\": \"bookcase\", \"model\": \"eckdny\", \"scale\": [1.0001277923583984, 0.9999730587005615, 0.9999985098838806], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"door_dlncrt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_dlncrt_0\", \"category\": \"door\", \"model\": \"dlncrt\", \"scale\": [1.0001740455627441, 1.0000379085540771, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"398896fe689aa058c8a21309dfb1dc7b\"}}, \"door_pevmgl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pevmgl_0\", \"category\": \"door\", \"model\": \"pevmgl\", \"scale\": [1.0003702640533447, 1.0000139474868774, 0.999976634979248], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"1fc36a86ee715dc424ac9643b6d94b89\"}}, \"armchair_axcwcm_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"armchair_axcwcm_0\", \"category\": \"armchair\", \"model\": \"axcwcm\", \"scale\": [0.9999984502792358, 0.9999963045120239, 0.9999688863754272], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"coffee_table_osroux_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"coffee_table_osroux_0\", \"category\": \"coffee_table\", \"model\": \"osroux\", \"scale\": [1.0, 1.0000073909759521, 0.9999943971633911], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"floor_lamp_mqfdjk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_mqfdjk_0\", \"category\": \"floor_lamp\", \"model\": \"mqfdjk\", \"scale\": [1.000029444694519, 1.0000795125961304, 1.000067114830017], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"floor_lamp_ogolip_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_ogolip_0\", \"category\": \"floor_lamp\", \"model\": \"ogolip\", \"scale\": [0.9999575018882751, 0.9999538064002991, 0.9999926686286926], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"nightstand_roxnbe_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_1\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"nightstand_uzxrlg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_uzxrlg_0\", \"category\": \"nightstand\", \"model\": \"uzxrlg\", \"scale\": [1.0000001192092896, 1.0000001192092896, 1.0000001192092896], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"ottoman_qsnawv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ottoman_qsnawv_0\", \"category\": \"ottoman\", \"model\": \"qsnawv\", \"scale\": [1.0000733137130737, 1.0000184774398804, 1.0000115633010864], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"swivel_chair_iiihwn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"swivel_chair_iiihwn_0\", \"category\": \"swivel_chair\", \"model\": \"iiihwn\", \"scale\": [0.999993085861206, 1.0000238418579102, 0.9999864101409912], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_erfbgw_0\", \"category\": \"table_lamp\", \"model\": \"erfbgw\", \"scale\": [0.9999635219573975, 0.9999635219573975, 1.0001020431518555], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_erfbgw_1\", \"category\": \"table_lamp\", \"model\": \"erfbgw\", \"scale\": [0.9999635219573975, 0.9999635219573975, 1.0001020431518555], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"table_lamp_lshxmu_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_lshxmu_0\", \"category\": \"table_lamp\", \"model\": \"lshxmu\", \"scale\": [1.0000922679901123, 0.999626874923706, 1.0000587701797485], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"table_lamp_wbcgev_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_wbcgev_0\", \"category\": \"table_lamp\", \"model\": \"wbcgev\", \"scale\": [0.9998542070388794, 0.9999491572380066, 1.000084400177002], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"taboret_cgwxtq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"taboret_cgwxtq_0\", \"category\": \"taboret\", \"model\": \"cgwxtq\", \"scale\": [1.0000165700912476, 0.9998753666877747, 1.0000357627868652], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"background_gkemae_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"background_gkemae_0\", \"category\": \"background\", \"model\": \"gkemae\", \"scale\": [1.0000039339065552, 0.9999995827674866, 1.0000026226043701], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"2bc4a006daca9351ac898d0761041c38\"}}, \"bathtub_rufepf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bathtub_rufepf_0\", \"category\": \"bathtub\", \"model\": \"rufepf\", \"scale\": [1.0000211000442505, 0.9999750256538391, 0.9999595284461975], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"69c884f53299f74e1a2aabc35bdda902\"}}, \"bed_klcjcy_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bed_klcjcy_0\", \"category\": \"bed\", \"model\": \"klcjcy\", \"scale\": [1.0000180006027222, 1.0000228881835938, 1.0000157356262207], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"bed_siuxgz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bed_siuxgz_0\", \"category\": \"bed\", \"model\": \"siuxgz\", \"scale\": [0.9999813437461853, 0.9999961256980896, 0.9999623894691467], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"bed_tjfzsb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bed_tjfzsb_0\", \"category\": \"bed\", \"model\": \"tjfzsb\", \"scale\": [1.0000121593475342, 0.9999977350234985, 0.9999493956565857], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"bookcase_bsvnni_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_bsvnni_0\", \"category\": \"bookcase\", \"model\": \"bsvnni\", \"scale\": [0.9998963475227356, 1.000018835067749, 1.0000661611557007], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"bookcase_kdnyfh_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_kdnyfh_0\", \"category\": \"bookcase\", \"model\": \"kdnyfh\", \"scale\": [1.0000849962234497, 1.0000241994857788, 0.9999460577964783], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"bookcase_kmuacd_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_kmuacd_0\", \"category\": \"bookcase\", \"model\": \"kmuacd\", \"scale\": [1.0000832080841064, 0.9999729990959167, 0.99996417760849], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"bookcase_opryhp_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_opryhp_0\", \"category\": \"bookcase\", \"model\": \"opryhp\", \"scale\": [0.9998956322669983, 1.0000393390655518, 1.0000652074813843], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"bookcase_opryhp_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_opryhp_1\", \"category\": \"bookcase\", \"model\": \"opryhp\", \"scale\": [0.9998956322669983, 1.0000393390655518, 1.0000652074813843], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"bookcase_otwukr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_otwukr_0\", \"category\": \"bookcase\", \"model\": \"otwukr\", \"scale\": [0.9999989867210388, 0.9999999403953552, 0.9999998807907104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"bookcase_otwukr_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_otwukr_1\", \"category\": \"bookcase\", \"model\": \"otwukr\", \"scale\": [0.9999989867210388, 0.9999999403953552, 0.9999998807907104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"bookcase_otwukr_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_otwukr_2\", \"category\": \"bookcase\", \"model\": \"otwukr\", \"scale\": [0.9999989867210388, 0.9999999403953552, 0.9999998807907104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"bookcase_otwukr_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_otwukr_3\", \"category\": \"bookcase\", \"model\": \"otwukr\", \"scale\": [0.9999989867210388, 0.9999999403953552, 0.9999998807907104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"bottom_cabinet_no_top_ncgmqr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_ncgmqr_0\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"ncgmqr\", \"scale\": [0.9999368190765381, 1.0000134706497192, 0.9999588131904602], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"ceilings_gznlyj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_gznlyj_0\", \"category\": \"ceilings\", \"model\": \"gznlyj\", \"scale\": [1.000010371208191, 0.9999898672103882, 1.0000264644622803], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"df2ed67ddeef16eea72e763e5d91c9c1\"}}, \"ceilings_laeuzw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_laeuzw_0\", \"category\": \"ceilings\", \"model\": \"laeuzw\", \"scale\": [0.9999973773956299, 1.000000238418579, 1.0000264644622803], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"1435d0a340affd2745ef24a87dfadf95\"}}, \"ceilings_mbrukp_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_mbrukp_0\", \"category\": \"ceilings\", \"model\": \"mbrukp\", \"scale\": [1.0000112056732178, 0.9999985694885254, 1.0000264644622803], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"563440674cd06777a07cf0a657a79f85\"}}, \"ceilings_qhcqdn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_qhcqdn_0\", \"category\": \"ceilings\", \"model\": \"qhcqdn\", \"scale\": [1.000006914138794, 1.000015377998352, 1.0000264644622803], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"4378e4d502ab2b44d2d995aba6ecf8ba\"}}, \"ceilings_srlfnq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_srlfnq_0\", \"category\": \"ceilings\", \"model\": \"srlfnq\", \"scale\": [1.0000112056732178, 0.9999985694885254, 1.0000264644622803], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"e7de031908731c0380b93cd9536d4531\"}}, \"desk_aduafr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"desk_aduafr_0\", \"category\": \"desk\", \"model\": \"aduafr\", \"scale\": [0.9999683499336243, 0.9999781847000122, 0.9999521970748901], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"desk_iotfzl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"desk_iotfzl_0\", \"category\": \"desk\", \"model\": \"iotfzl\", \"scale\": [0.999945342540741, 0.9999765753746033, 0.9999732971191406], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"desk_uqcmzf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"desk_uqcmzf_0\", \"category\": \"desk\", \"model\": \"uqcmzf\", \"scale\": [1.0000251531600952, 1.0000274181365967, 0.9999312162399292], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"door_pxhbim_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pxhbim_0\", \"category\": \"door\", \"model\": \"pxhbim\", \"scale\": [1.0002673864364624, 0.9999572038650513, 1.0000109672546387], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\", \"bathroom_1\"], \"bddl_object_scope\": null}}, \"door_pxhbim_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pxhbim_1\", \"category\": \"door\", \"model\": \"pxhbim\", \"scale\": [1.0002673864364624, 0.9999572038650513, 1.0000109672546387], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\", \"bedroom_0\"], \"bddl_object_scope\": null}}, \"door_pxhbim_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pxhbim_2\", \"category\": \"door\", \"model\": \"pxhbim\", \"scale\": [1.0002673864364624, 0.9999572038650513, 1.0000109672546387], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\", \"bedroom_1\"], \"bddl_object_scope\": null}}, \"door_pxhbim_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pxhbim_3\", \"category\": \"door\", \"model\": \"pxhbim\", \"scale\": [1.0002673864364624, 0.9999572038650513, 1.0000109672546387], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\", \"bedroom_2\"], \"bddl_object_scope\": null}}, \"downlight_vlplia_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_vlplia_0\", \"category\": \"downlight\", \"model\": \"vlplia\", \"scale\": [1.0002226829528809, 1.0000925064086914, 1.0001240968704224], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\"}}, \"downlight_vlplia_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_vlplia_1\", \"category\": \"downlight\", \"model\": \"vlplia\", \"scale\": [1.0002226829528809, 1.0000925064086914, 1.0001240968704224], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\"}}, \"downlight_vlplia_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_vlplia_2\", \"category\": \"downlight\", \"model\": \"vlplia\", \"scale\": [1.0002226829528809, 1.0000925064086914, 1.0001240968704224], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\"}}, \"downlight_vlplia_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_vlplia_3\", \"category\": \"downlight\", \"model\": \"vlplia\", \"scale\": [1.0002226829528809, 1.0000925064086914, 1.0001240968704224], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\"}}, \"fixed_window_etjpqr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_etjpqr_0\", \"category\": \"fixed_window\", \"model\": \"etjpqr\", \"scale\": [0.9994935393333435, 1.0000231266021729, 0.9999651908874512], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"fixed_window_etjpqr_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_etjpqr_1\", \"category\": \"fixed_window\", \"model\": \"etjpqr\", \"scale\": [0.9994935393333435, 1.0000231266021729, 0.9999651908874512], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"fixed_window_etjpqr_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_etjpqr_2\", \"category\": \"fixed_window\", \"model\": \"etjpqr\", \"scale\": [0.9994935393333435, 1.0000231266021729, 0.9999651908874512], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"fixed_window_etjpqr_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_etjpqr_3\", \"category\": \"fixed_window\", \"model\": \"etjpqr\", \"scale\": [0.9994935393333435, 1.0000231266021729, 0.9999651908874512], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"fixed_window_etjpqr_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_etjpqr_4\", \"category\": \"fixed_window\", \"model\": \"etjpqr\", \"scale\": [0.9994935393333435, 1.0000231266021729, 0.9999651908874512], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d5921c643dcc0a93992005a7b3bdc4d6\"}}, \"fixed_window_etjpqr_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_etjpqr_5\", \"category\": \"fixed_window\", \"model\": \"etjpqr\", \"scale\": [0.9994935393333435, 1.0000231266021729, 0.9999651908874512], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"floors_dcxicr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_dcxicr_0\", \"category\": \"floors\", \"model\": \"dcxicr\", \"scale\": [1.0000115633010864, 0.9999899864196777, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"floors_nlswvt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_nlswvt_0\", \"category\": \"floors\", \"model\": \"nlswvt\", \"scale\": [1.0000108480453491, 1.0000033378601074, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"floors_rfqizg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_rfqizg_0\", \"category\": \"floors\", \"model\": \"rfqizg\", \"scale\": [0.9999974966049194, 1.0000001192092896, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"floors_tfuahz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_tfuahz_0\", \"category\": \"floors\", \"model\": \"tfuahz\", \"scale\": [1.0000072717666626, 1.0000156164169312, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"4de9acb9f9f9c143725d95862649d0dc\"}}, \"floors_zrhxwn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_zrhxwn_0\", \"category\": \"floors\", \"model\": \"zrhxwn\", \"scale\": [1.0000113248825073, 0.9999984502792358, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"folderal_ydrlth_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"folderal_ydrlth_0\", \"category\": \"folderal\", \"model\": \"ydrlth\", \"scale\": [1.0001840591430664, 0.9998601078987122, 1.000731110572815], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"furniture_sink_ojjqku_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"furniture_sink_ojjqku_0\", \"category\": \"furniture_sink\", \"model\": \"ojjqku\", \"scale\": [1.0, 1.0000003576278687, 0.9999823570251465], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"82dc0a7a598004d55e2aec9c50f80570\"}}, \"map_fdtxut_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"map_fdtxut_0\", \"category\": \"map\", \"model\": \"fdtxut\", \"scale\": [0.9997681379318237, 0.9999114871025085, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"map_hsbtqi_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"map_hsbtqi_0\", \"category\": \"map\", \"model\": \"hsbtqi\", \"scale\": [0.9997706413269043, 0.9998932480812073, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"mirror_ovdinr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"mirror_ovdinr_0\", \"category\": \"mirror\", \"model\": \"ovdinr\", \"scale\": [0.9987460374832153, 1.0000121593475342, 1.0000134706497192], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"67a77083280f1faa491263ccc1c01a1b\"}}, \"painting_eexydp_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"painting_eexydp_0\", \"category\": \"painting\", \"model\": \"eexydp\", \"scale\": [1.0030890703201294, 0.9999678134918213, 1.0000113248825073], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"painting_jfkvxh_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"painting_jfkvxh_0\", \"category\": \"painting\", \"model\": \"jfkvxh\", \"scale\": [1.001561164855957, 0.9999836683273315, 1.0000487565994263], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"painting_ljabhq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"painting_ljabhq_0\", \"category\": \"painting\", \"model\": \"ljabhq\", \"scale\": [1.0005065202713013, 0.9999780058860779, 1.0000290870666504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"picture_abtgvz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_abtgvz_0\", \"category\": \"picture\", \"model\": \"abtgvz\", \"scale\": [1.0004545450210571, 1.000188946723938, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"picture_aicjaq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_aicjaq_0\", \"category\": \"picture\", \"model\": \"aicjaq\", \"scale\": [1.0000500679016113, 0.9999763369560242, 1.0017871856689453], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"picture_aqahkx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_aqahkx_0\", \"category\": \"picture\", \"model\": \"aqahkx\", \"scale\": [1.000043511390686, 0.9999478459358215, 0.9999922513961792], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"picture_bzmdxc_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_bzmdxc_0\", \"category\": \"picture\", \"model\": \"bzmdxc\", \"scale\": [0.9997698068618774, 0.9997700452804565, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"picture_hyjqxp_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_hyjqxp_0\", \"category\": \"picture\", \"model\": \"hyjqxp\", \"scale\": [0.9998784065246582, 1.000119686126709, 0.9999837279319763], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"picture_jovfqj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_jovfqj_0\", \"category\": \"picture\", \"model\": \"jovfqj\", \"scale\": [0.9999560713768005, 1.0000486373901367, 1.001761794090271], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"picture_nxjgqw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_nxjgqw_0\", \"category\": \"picture\", \"model\": \"nxjgqw\", \"scale\": [0.9999761581420898, 1.0000498294830322, 1.0017874240875244], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"picture_nxqoed_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_nxqoed_0\", \"category\": \"picture\", \"model\": \"nxqoed\", \"scale\": [0.9999762177467346, 1.0000498294830322, 1.0017832517623901], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"picture_nzctlq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_nzctlq_0\", \"category\": \"picture\", \"model\": \"nzctlq\", \"scale\": [0.9998580813407898, 0.9999564290046692, 0.9999911785125732], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"picture_rypaxo_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_rypaxo_0\", \"category\": \"picture\", \"model\": \"rypaxo\", \"scale\": [1.0001418590545654, 1.0001705884933472, 0.9999890327453613], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"picture_svpzro_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_svpzro_0\", \"category\": \"picture\", \"model\": \"svpzro\", \"scale\": [0.9995415210723877, 1.0002294778823853, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"picture_trqgni_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_trqgni_0\", \"category\": \"picture\", \"model\": \"trqgni\", \"scale\": [0.9999762177467346, 1.0000498294830322, 1.0017832517623901], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"picture_ttwhjj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_ttwhjj_0\", \"category\": \"picture\", \"model\": \"ttwhjj\", \"scale\": [1.0000293254852295, 0.999886155128479, 1.0023601055145264], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"picture_vezfau_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_vezfau_0\", \"category\": \"picture\", \"model\": \"vezfau\", \"scale\": [0.9998895525932312, 1.0000633001327515, 1.0023577213287354], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"picture_xnuynn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_xnuynn_0\", \"category\": \"picture\", \"model\": \"xnuynn\", \"scale\": [1.0000395774841309, 1.0000495910644531, 0.9983996152877808], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"6e01399d75ae2c6f23057e40025741bf\"}}, \"picture_yrkfct_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_yrkfct_0\", \"category\": \"picture\", \"model\": \"yrkfct\", \"scale\": [0.9999779462814331, 0.9999926686286926, 0.9999897480010986], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"railing_pqzbbb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"railing_pqzbbb_0\", \"category\": \"railing\", \"model\": \"pqzbbb\", \"scale\": [0.9999876618385315, 1.0000152587890625, 0.9999931454658508], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"railing_pqzbbb_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"railing_pqzbbb_1\", \"category\": \"railing\", \"model\": \"pqzbbb\", \"scale\": [0.9999876618385315, 1.0000152587890625, 0.9999931454658508], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"railing_pqzbbb_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"railing_pqzbbb_2\", \"category\": \"railing\", \"model\": \"pqzbbb\", \"scale\": [0.9999876618385315, 1.0000152587890625, 0.9999931454658508], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"railing_pqzbbb_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"railing_pqzbbb_3\", \"category\": \"railing\", \"model\": \"pqzbbb\", \"scale\": [0.9999876618385315, 1.0000152587890625, 0.9999931454658508], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"railing_pqzbbb_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"railing_pqzbbb_4\", \"category\": \"railing\", \"model\": \"pqzbbb\", \"scale\": [0.9999876618385315, 1.0000152587890625, 0.9999931454658508], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"room_divider_bydmct_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"room_divider_bydmct_0\", \"category\": \"room_divider\", \"model\": \"bydmct\", \"scale\": [1.000349521636963, 1.0000001192092896, 1.0000749826431274], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"shelf_sapyzl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"shelf_sapyzl_0\", \"category\": \"shelf\", \"model\": \"sapyzl\", \"scale\": [1.0002144575119019, 0.9999921917915344, 1.0006431341171265], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"shelf_sapyzl_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"shelf_sapyzl_1\", \"category\": \"shelf\", \"model\": \"sapyzl\", \"scale\": [1.0002144575119019, 0.9999921917915344, 1.0006431341171265], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"shower_giialz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"shower_giialz_0\", \"category\": \"shower\", \"model\": \"giialz\", \"scale\": [1.0000324249267578, 0.9999755620956421, 1.0006901025772095], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"cf630a00a84967aab7bb068344439759\"}}, \"showerhead_afoeoa_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"showerhead_afoeoa_0\", \"category\": \"showerhead\", \"model\": \"afoeoa\", \"scale\": [0.999765932559967, 0.9998961687088013, 1.000025987625122], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b3480047d2d31897fbbf0cefc1a98c85\"}}, \"showerhead_svuhzb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"showerhead_svuhzb_0\", \"category\": \"showerhead\", \"model\": \"svuhzb\", \"scale\": [1.000108003616333, 1.0001031160354614, 1.0000262260437012], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"727c61154828795a818eca71499da6c2\"}}, \"sofa_ukfaaz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"sofa_ukfaaz_0\", \"category\": \"sofa\", \"model\": \"ukfaaz\", \"scale\": [0.9999885559082031, 1.0000011920928955, 0.9999796748161316], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"toilet_udiezm_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"toilet_udiezm_0\", \"category\": \"toilet\", \"model\": \"udiezm\", \"scale\": [1.0000375509262085, 1.0000358819961548, 0.9999516010284424], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"fbdda5783bee01746d910c803848818c\"}}, \"towel_rack_qedffr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"towel_rack_qedffr_0\", \"category\": \"towel_rack\", \"model\": \"qedffr\", \"scale\": [1.0001524686813354, 1.0000016689300537, 1.0000251531600952], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ef1df2a98e95c50b3881f1a7e0a30ba9\"}}, \"wall_mounted_light_etqbld_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_mounted_light_etqbld_0\", \"category\": \"wall_mounted_light\", \"model\": \"etqbld\", \"scale\": [0.9998313784599304, 1.000183343887329, 1.0000163316726685], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b3d1fa09d42d3772b84e89066d857d16\"}}, \"wall_mounted_light_etqbld_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_mounted_light_etqbld_1\", \"category\": \"wall_mounted_light\", \"model\": \"etqbld\", \"scale\": [0.9998313784599304, 1.000183343887329, 1.0000163316726685], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b3d1fa09d42d3772b84e89066d857d16\"}}, \"wall_mounted_tv_sodbbr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_mounted_tv_sodbbr_0\", \"category\": \"wall_mounted_tv\", \"model\": \"sodbbr\", \"scale\": [1.000807523727417, 1.0000016689300537, 0.9999944567680359], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"wall_socket_plssag_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_socket_plssag_0\", \"category\": \"wall_socket\", \"model\": \"plssag\", \"scale\": [1.0000931024551392, 1.000092625617981, 0.9969291687011719], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"wall_socket_plssag_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_socket_plssag_1\", \"category\": \"wall_socket\", \"model\": \"plssag\", \"scale\": [1.0000931024551392, 1.000092625617981, 0.9969291687011719], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"walls_boflea_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_boflea_0\", \"category\": \"walls\", \"model\": \"boflea\", \"scale\": [1.000002145767212, 0.9999855160713196, 1.0000048875808716], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"e63c71f569287aec8457267e8d593189\"}}, \"walls_eguptx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_eguptx_0\", \"category\": \"walls\", \"model\": \"eguptx\", \"scale\": [1.000280499458313, 0.9999999403953552, 1.0000176429748535], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"18f1efa2229070e2c4e00576cff3808e\"}}, \"walls_hddwcd_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_hddwcd_0\", \"category\": \"walls\", \"model\": \"hddwcd\", \"scale\": [0.9998137354850769, 1.0000065565109253, 1.0000176429748535], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"cdef188b4094c5806eee3577d7722fed\"}}, \"walls_jpdrrk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_jpdrrk_0\", \"category\": \"walls\", \"model\": \"jpdrrk\", \"scale\": [0.9998674392700195, 1.000003695487976, 1.0000174045562744], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"32e167547393ebdf51cdeb48e4bddbd7\"}}, \"walls_ldoefg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_ldoefg_0\", \"category\": \"walls\", \"model\": \"ldoefg\", \"scale\": [1.0002321004867554, 1.0000122785568237, 1.0000176429748535], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"b0ff26d26a0e7be3149adf0c34fe51e1\"}}, \"walls_lempwq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_lempwq_0\", \"category\": \"walls\", \"model\": \"lempwq\", \"scale\": [0.9999897480010986, 1.0002497434616089, 1.0000174045562744], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"3dacdc7222e11faf813308adb492f321\"}}, \"walls_oglchp_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_oglchp_0\", \"category\": \"walls\", \"model\": \"oglchp\", \"scale\": [1.000198245048523, 1.0000457763671875, 1.0000174045562744], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"0da8b8cc95f0be8d331ea6c4d03755d4\"}}, \"walls_rscyjh_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_rscyjh_0\", \"category\": \"walls\", \"model\": \"rscyjh\", \"scale\": [1.0002321004867554, 0.9999890923500061, 1.0000176429748535], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"9567d28d0aa8832f19d34163b2c7e4dc\"}}, \"walls_slooel_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_slooel_0\", \"category\": \"walls\", \"model\": \"slooel\", \"scale\": [1.000002145767212, 1.0, 1.0000054836273193], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"07b7f38bce91492398cb23f822e1125b\"}}, \"walls_vastci_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_vastci_0\", \"category\": \"walls\", \"model\": \"vastci\", \"scale\": [1.0001400709152222, 1.0000052452087402, 1.0000174045562744], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"7c7e24a26487ee49b3fcd7f2195d6018\"}}, \"walls_wjblrc_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_wjblrc_0\", \"category\": \"walls\", \"model\": \"wjblrc\", \"scale\": [0.9999986886978149, 0.9999366402626038, 1.0000174045562744], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"07f7ce729de8896f7464dc89e875cd56\"}}, \"walls_ynhwyn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_ynhwyn_0\", \"category\": \"walls\", \"model\": \"ynhwyn\", \"scale\": [0.9999961256980896, 0.9999467134475708, 1.0000174045562744], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"2dd4218d6107361b9fe45b0817d5cd75\"}}, \"walls_zlekao_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_zlekao_0\", \"category\": \"walls\", \"model\": \"zlekao\", \"scale\": [0.9997971057891846, 0.9999727010726929, 1.0000176429748535], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"41226ca99e25e4a93f36ea917b7aa998\"}}, \"mousetrap_47\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"mousetrap_47\", \"category\": \"mousetrap\", \"model\": \"mwfwsv\", \"scale\": [1.0, 1.0, 1.0], \"prim_type\": 0, \"in_rooms\": [\"bathroom_0\"], \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"}}, \"mousetrap_48\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"mousetrap_48\", \"category\": \"mousetrap\", \"model\": \"mwfwsv\", \"scale\": [1.0, 1.0, 1.0], \"prim_type\": 0, \"in_rooms\": [\"bathroom_0\"], \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"}}, \"mousetrap_49\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"mousetrap_49\", \"category\": \"mousetrap\", \"model\": \"mwfwsv\", \"scale\": [1.0, 1.0, 1.0], \"prim_type\": 0, \"in_rooms\": [\"bathroom_0\"], \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"}}, \"mousetrap_50\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"mousetrap_50\", \"category\": \"mousetrap\", \"model\": \"mwfwsv\", \"scale\": [1.0, 1.0, 1.0], \"prim_type\": 0, \"in_rooms\": [\"bathroom_0\"], \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"}}, \"robot_r1\": {\"class_module\": \"omnigibson.robots.r1pro\", \"class_name\": \"R1Pro\", \"args\": {\"name\": \"robot_r1\", \"self_collisions\": true, \"controller_config\": {\"arm_left\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"arm_right\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"gripper_left\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"gripper_right\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"base\": {\"name\": \"HolonomicBaseJointController\", \"motor_type\": \"velocity\", \"vel_kp\": 150, \"command_input_limits\": [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]], \"command_output_limits\": [[-0.75, -0.75, -1.0], [0.75, 0.75, 1.0]], \"use_impedances\": false}, \"trunk\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"camera\": {\"name\": \"NullJointController\"}}, \"action_normalize\": false, \"reset_joint_pos\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.024999976158142, -1.4500000476837158, -0.4699999988079071, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806], \"obs_modalities\": [], \"sensor_config\": {\"VisionSensor\": {\"sensor_kwargs\": {\"image_height\": 1080, \"image_width\": 1080}}}, \"grasping_mode\": \"assisted\", \"expected_file_hash\": \"fb7a5df9e48a57ad673b0486a08a6b3f\"}}}}, \"state\": {\"pos\": [0.0, 0.0, 0.0], \"ori\": [0.0, 0.0, 0.0, 1.0], \"registry\": {\"system_registry\": {}, \"object_registry\": {\"bottom_cabinet_jhymlr_0\": {\"is_asleep\": true, \"root_link\": {\"pos\": [2.092590808868408, 2.0246498584747314, 0.49188706278800964], \"ori\": [9.5367431640625e-07, 1.6076184692792594e-05, 1.0, -5.523504569282522e-07], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [9.100510701218616e-29, 0.0, 0.0, 0.0, 2.866529466199735e-20, 0.0], \"joint_vel\": [1.523328772506266e-26, -1.3884577306282292e-17, -1.7591427163849502e-26, -1.388455083650269e-17, -1.7644590534034367e-26, -2.6229871617631524e-26], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bottom_cabinet_nddvba_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.532853126525879, -4.555397987365723, 0.3671515882015228], \"ori\": [-2.8335489332675934e-07, -5.410327119648173e-08, 0.7071069478988647, 0.7071065902709961], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [2.09721351396297e-10, 2.0853083149141582e-10, 2.1091606239309613e-10, 2.0673483758226752e-10], \"joint_vel\": [0.0, 0.0, 0.0, 0.0], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"downlight_fisfbn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.09026676416397095, -2.4358420372009277, 2.4632391929626465], \"ori\": [0.0, 0.0, 0.0, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"downlight_fisfbn_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.3512401580810547, -2.4358420372009277, 2.4632391929626465], \"ori\": [0.0, 0.0, 0.0, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"downlight_fisfbn_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.869446754455566, -2.4358420372009277, 2.4632391929626465], \"ori\": [0.0, 0.0, 0.0, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"downlight_fisfbn_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.09026669710874557, -0.543851912021637, 2.4632391929626465], \"ori\": [0.0, 0.0, 0.0, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"downlight_fisfbn_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.4351019859313965, 1.294590950012207, 2.4632391929626465], \"ori\": [7.275957614183426e-12, -1.1638689144388703e-11, 0.7071068286895752, 0.7071067094802856], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"downlight_fisfbn_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.477394104003906, 1.294590950012207, 2.4632391929626465], \"ori\": [7.275957614183426e-12, -1.1638689144388703e-11, 0.7071068286895752, 0.7071067094802856], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"downlight_fisfbn_6\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.477394104003906, -1.7681576013565063, 2.4632391929626465], \"ori\": [7.275957614183426e-12, -1.1638689144388703e-11, 0.7071068286895752, 0.7071067094802856], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"electric_switch_strbnw_0\": {\"is_asleep\": true, \"root_link\": {\"pos\": [0.30884644389152527, 1.3495941162109375, 1.2362018823623657], \"ori\": [0.023773040622472763, -0.0220329649746418, 0.698990523815155, 0.7143959999084473], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"electric_switch_strbnw_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.638528823852539, 1.2987020015716553, 1.2362018823623657], \"ori\": [0.032389722764492035, 0.001230441383086145, 0.9994152188301086, 0.010893446393311024], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"fixed_window_lhzwtz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.583202362060547, -1.350947380065918, 1.1077909469604492], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"fixed_window_lhzwtz_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.39258337020874, 0.7454789876937866, 1.107787013053894], \"ori\": [-5.197228992927672e-15, 6.883938397095335e-08, 1.0, -7.549790126404332e-08]}, \"non_kin\": {}}, \"fixed_window_lhzwtz_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.392583847045898, -1.3970016241073608, 1.1077871322631836], \"ori\": [-5.197228992927672e-15, 6.883938397095335e-08, 1.0, -7.549790126404332e-08]}, \"non_kin\": {}}, \"fixed_window_lhzwtz_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.583202362060547, 0.5852675437927246, 1.1077910661697388], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"hook_akwlam_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.3908509612083435, 4.0813446044921875, 1.029435396194458], \"ori\": [0.4999999403953552, 0.5, -0.4999999403953552, 0.5000001192092896]}, \"non_kin\": {}}, \"stairs_tikozn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.10555572807788849, -2.5288288593292236, -1.0919712781906128], \"ori\": [0.0, 0.0, 1.0, 7.549790126404332e-08]}, \"non_kin\": {}}, \"serving_cart_vvtcby_0\": {\"is_asleep\": true, \"root_link\": {\"pos\": [-1.0553499460220337, 1.65486741065979, 0.35387635231018066], \"ori\": [5.447474177344702e-05, -3.398612875571416e-07, 1.562620610684462e-07, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"bookcase_eckdny_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.60115647315979, -3.6889030933380127, 1.5160777568817139], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"door_dlncrt_0\": {\"is_asleep\": true, \"root_link\": {\"pos\": [2.136253595352173, 2.8556718826293945, 1.0276660919189453], \"ori\": [-0.00043117045424878597, -0.0004503553209360689, 0.7264790534973145, 0.6871883273124695], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [4.82574702420635e-10], \"joint_vel\": [-1.780511197193354e-14], \"non_kin\": {}}, \"door_pevmgl_0\": {\"is_asleep\": true, \"root_link\": {\"pos\": [1.3618602752685547, 3.7988569736480713, 0.8276898264884949], \"ori\": [-5.076043089502491e-05, -5.080042319605127e-05, -0.013736601918935776, 0.9999056458473206], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [6.910227390299895e-10], \"joint_vel\": [7.11934410892439e-15], \"non_kin\": {}}, \"armchair_axcwcm_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.8402870893478394, -2.938621759414673, 0.45841333270072937], \"ori\": [-1.0162133548874408e-05, 0.00017181402654387057, -1.3280659914016724e-06, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"coffee_table_osroux_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.684656858444214, -2.423295021057129, 0.1730228066444397], \"ori\": [-2.5283541617682204e-05, -1.696559411357157e-05, -0.7071087956428528, 0.7071047425270081], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"floor_lamp_mqfdjk_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.826064348220825, 1.8580962419509888, 0.45078128576278687], \"ori\": [0.0016362910391762853, 0.006298218388110399, 0.7069066762924194, 0.7072769403457642], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"floor_lamp_ogolip_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.062624931335449, 0.008141862228512764, 1.0124902725219727], \"ori\": [-1.6905367374420166e-05, 0.00044273180537857115, 0.9976111650466919, 0.06907779723405838], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"nightstand_aykehx_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.925453186035156, 2.1115481853485107, 0.2113630473613739], \"ori\": [3.1381841836264357e-06, 0.00018893892411142588, 0.0001536466443212703, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"nightstand_roxnbe_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.9243011474609375, 3.77669095993042, 0.4112929105758667], \"ori\": [3.951135454371979e-07, -3.7565979482678813e-07, -0.7071093916893005, 0.7071041464805603], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"nightstand_roxnbe_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.967331886291504, 3.7767181396484375, 0.4112929403781891], \"ori\": [4.244502349592949e-07, -4.497288443872094e-07, -0.7071036100387573, 0.7071099281311035], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"nightstand_uzxrlg_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.787921190261841, -0.8513757586479187, 0.16321417689323425], \"ori\": [-0.7071067094802856, 0.7071068286895752, -1.6836565919220448e-08, -2.0901778086113154e-08], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"ottoman_qsnawv_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.577789783477783, 1.3802497386932373, 0.22990447282791138], \"ori\": [0.0015945957275107503, 0.0020371023565530777, -0.6427991390228271, 0.7660304307937622], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"swivel_chair_iiihwn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.50669264793396, -3.555370569229126, 0.4810924530029297], \"ori\": [-2.9802320611338473e-08, 1.303851515643828e-08, 0.9762960076332092, -0.21643970906734467], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"table_lamp_erfbgw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.805120944976807, 3.792064666748047, 1.0102818012237549], \"ori\": [-4.045454988954589e-05, 8.477071969537064e-05, 0.9238797426223755, 0.3826829195022583], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"table_lamp_erfbgw_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.924416542053223, 2.006227731704712, 0.6192376613616943], \"ori\": [9.417497494723648e-05, 0.0002546881150919944, -0.3842969536781311, 0.9232094883918762], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"table_lamp_lshxmu_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.2301324605941772, -2.5665626525878906, 1.0050123929977417], \"ori\": [-1.1309981346130371e-05, -4.39002087659901e-06, -0.7071065902709961, 0.7071069478988647], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"table_lamp_wbcgev_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.6646816730499268, -0.9056946635246277, 0.6474224328994751], \"ori\": [-5.6438148021698e-07, -3.52680217474699e-06, -1.3111213775118813e-05, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"taboret_cgwxtq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.227510452270508, 0.30157414078712463, 0.3361850380897522], \"ori\": [3.795139491558075e-08, -1.9208528101444244e-09, 0.9743711948394775, 0.22494620084762573], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"background_gkemae_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.10513642430305481, -1.5612900257110596, -2.0127623081207275], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"bathtub_rufepf_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.2975157499313354, 3.488691806793213, 0.2953036427497864], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bed_klcjcy_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.159031867980957, 3.2054555416107178, 0.2834775149822235], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"bed_siuxgz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.43868350982666, 2.9527525901794434, 0.2767050564289093], \"ori\": [4.214685844772248e-08, -4.214685134229512e-08, -0.7071068286895752, 0.7071067094802856]}, \"non_kin\": {}}, \"bed_tjfzsb_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.001486778259277, -1.4939584732055664, 0.2526565194129944], \"ori\": [2.3180781738574296e-07, 4.019436964253914e-14, -0.7071068286895752, 0.7071067094802856]}, \"non_kin\": {}}, \"bookcase_bsvnni_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.327892780303955, -3.8727524280548096, 0.36479100584983826], \"ori\": [-1.6292067073209182e-07, 1.6292069915380125e-07, 1.0, 1.9470721213110664e-07]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bookcase_kdnyfh_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.8446686267852783, 3.342196464538574, 0.3241426348686218], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bookcase_kmuacd_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.246784210205078, -0.14068321883678436, 0.6218990683555603], \"ori\": [3.218674748950434e-07, -1.3894184291984857e-07, 0.7071070671081543, 0.7071064710617065]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bookcase_opryhp_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.306008338928223, -4.559752941131592, 0.3657950758934021], \"ori\": [0.0, 0.0, 0.70710688829422, 0.7071066498756409]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bookcase_opryhp_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.078645706176758, -4.559752941131592, 0.36579498648643494], \"ori\": [1.6858743379088992e-07, 2.3040477969971107e-07, 0.7071068286895752, 0.7071067094802856]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bookcase_otwukr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.575839519500732, -0.6310573816299438, 0.5307912230491638], \"ori\": [2.2507038011099212e-08, 2.2507050445597088e-08, -0.7071066498756409, 0.70710688829422]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bookcase_otwukr_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.0533223152160645, -0.6310573816299438, 0.5307912230491638], \"ori\": [2.2507038011099212e-08, 2.2507050445597088e-08, -0.7071066498756409, 0.70710688829422]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bookcase_otwukr_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.291658401489258, -0.6310573220252991, 0.5307912230491638], \"ori\": [2.2507038011099212e-08, 2.2507050445597088e-08, -0.7071066498756409, 0.70710688829422]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bookcase_otwukr_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.814175605773926, -0.6310573220252991, 0.5307912230491638], \"ori\": [2.2507038011099212e-08, 2.2507050445597088e-08, -0.7071066498756409, 0.70710688829422]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bottom_cabinet_no_top_ncgmqr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.8681254386901855, -4.464008808135986, 0.2956666052341461], \"ori\": [2.512147467383986e-15, -2.9591314287813475e-08, 0.7071066498756409, 0.70710688829422], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [0.0, 1.6453908813218732e-07, 4.2123927125018583e-19], \"joint_vel\": [0.0, 0.0, 0.0], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"ceilings_gznlyj_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.468292713165283, -2.674513816833496, 2.3836891651153564], \"ori\": [0.0, 0.0, 1.0, -7.549790126404332e-08]}, \"non_kin\": {}}, \"ceilings_laeuzw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.7077958583831787, -2.1586220264434814, 2.4162521362304688], \"ori\": [0.0, 0.0, 1.0, -7.549790126404332e-08]}, \"non_kin\": {}}, \"ceilings_mbrukp_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.461474418640137, 1.9713948965072632, 2.394315719604492], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"ceilings_qhcqdn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.08801434934139252, 2.7923336029052734, 2.2950093746185303], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"ceilings_srlfnq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.468295097351074, 1.977994441986084, 2.3930435180664062], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"desk_aduafr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.267700672149658, -0.010029185563325882, 0.4418487846851349], \"ori\": [0.004032700788229704, -0.0013341812882572412, 0.7054926753044128, 0.7087044715881348], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [1.0867823703681126e-13, 1.0872405813112593e-13, 5.89786575133644e-09], \"joint_vel\": [0.0, 0.0, 0.0], \"non_kin\": {}}, \"desk_iotfzl_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.3021124601364136, -2.950000286102295, 0.6246659755706787], \"ori\": [0.0013271044008433819, -0.0005110847414471209, -6.436954572563991e-05, 0.9999989867210388]}, \"non_kin\": {}}, \"desk_uqcmzf_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.024132251739502, -3.992579936981201, 0.6146024465560913], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"door_pxhbim_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.20764051377773285, 1.2351009845733643, 1.1892328262329102], \"ori\": [-1.601249209670641e-06, -1.6615202866887557e-06, -0.7071068286895752, 0.7071067094802856], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-5.721107465017786e-20], \"joint_vel\": [0.0], \"non_kin\": {}}, \"door_pxhbim_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.5292775630950928, 0.6931469440460205, 1.1892331838607788], \"ori\": [0.0, 0.0, 0.0, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-2.961525961238288e-17], \"joint_vel\": [0.0], \"non_kin\": {}}, \"door_pxhbim_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.315669059753418, 0.6993893384933472, 1.1892321109771729], \"ori\": [2.544373046475812e-06, 4.393572083927211e-08, 1.0, -1.9464638967292558e-07], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-4.738024374254738e-16], \"joint_vel\": [0.0], \"non_kin\": {}}, \"door_pxhbim_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.3249032497406006, -2.3868300914764404, 1.1892367601394653], \"ori\": [2.544373046475812e-06, 4.393572083927211e-08, 1.0, -1.9464638967292558e-07], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-4.738024374254738e-16], \"joint_vel\": [0.0], \"non_kin\": {}}, \"downlight_vlplia_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.7261422872543335, 1.702736258506775, 2.3463408946990967], \"ori\": [0.008096667937934399, 0.001065945951268077, 0.13052134215831757, 0.9914118647575378]}, \"non_kin\": {}}, \"downlight_vlplia_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.5056443810462952, 1.7027353048324585, 2.346337080001831], \"ori\": [0.008096667937934399, 0.001065945951268077, 0.13052134215831757, 0.9914118647575378]}, \"non_kin\": {}}, \"downlight_vlplia_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.9353467226028442, 1.702736258506775, 2.346334457397461], \"ori\": [0.008096667937934399, 0.001065945951268077, 0.13052134215831757, 0.9914118647575378]}, \"non_kin\": {}}, \"downlight_vlplia_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.7148566246032715, 1.7027324438095093, 2.3463408946990967], \"ori\": [0.008096667937934399, 0.001065945951268077, 0.13052134215831757, 0.9914118647575378]}, \"non_kin\": {}}, \"fixed_window_etjpqr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.470505237579346, 3.373602867126465, 2.0977401733398438], \"ori\": [0.2933119535446167, -0.29331210255622864, 0.6434037685394287, 0.6434032320976257]}, \"non_kin\": {}}, \"fixed_window_etjpqr_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.4637041091918945, -4.019357681274414, 2.046593427658081], \"ori\": [-0.2933117747306824, -0.2933121621608734, -0.6434030532836914, 0.6434040069580078]}, \"non_kin\": {}}, \"fixed_window_etjpqr_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.09024500101804733, -4.019358158111572, 2.0465941429138184], \"ori\": [-0.2933117747306824, -0.2933121621608734, -0.6434030532836914, 0.6434040069580078]}, \"non_kin\": {}}, \"fixed_window_etjpqr_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.466063022613525, -4.019358158111572, 2.046592950820923], \"ori\": [-0.2933119237422943, -0.293312132358551, -0.6434032917022705, 0.6434037685394287]}, \"non_kin\": {}}, \"fixed_window_etjpqr_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.08578544855117798, 3.3733654022216797, 2.099078416824341], \"ori\": [0.2933119833469391, -0.293312132358551, 0.6434038281440735, 0.643403172492981]}, \"non_kin\": {}}, \"fixed_window_etjpqr_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.459245681762695, 3.3733651638031006, 2.099078893661499], \"ori\": [0.2933119535446167, -0.29331210255622864, 0.6434037685394287, 0.6434032320976257]}, \"non_kin\": {}}, \"floors_dcxicr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.468292713165283, -2.63045334815979, -0.15000000596046448], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_nlswvt_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.461475372314453, 1.926833987236023, -0.15000000596046448], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_rfqizg_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.9037261009216309, -2.049670696258545, -0.15000000596046448], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_tfuahz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.08801501989364624, 2.746849536895752, -0.15000000596046448], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_zrhxwn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.468293190002441, 1.9268227815628052, -0.15000000596046448], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"folderal_ydrlth_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.331003189086914, -0.28473713994026184, 1.1173893213272095], \"ori\": [-3.785676767620316e-07, 0.7071076035499573, 0.7071059346199036, 4.853386030845286e-07]}, \"non_kin\": {}}, \"furniture_sink_ojjqku_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.1639554500579834, 2.223419427871704, 0.6277831196784973], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}, \"Temperature\": {\"temperature\": 23.0}}}, \"map_fdtxut_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.354017734527588, -0.28473711013793945, 1.1898915767669678], \"ori\": [-3.785676767620316e-07, 0.7071076035499573, 0.7071059346199036, 4.853386030845286e-07]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"map_hsbtqi_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.196124076843262, -0.2847370207309723, 1.1182665824890137], \"ori\": [-0.4940129518508911, 0.505916178226471, 0.4940141439437866, 0.5059150457382202]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"mirror_ovdinr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.3946311473846436, 2.223405599594116, 1.4635725021362305], \"ori\": [-1.4031301986960898e-07, 0.7071071863174438, -0.707106351852417, 1.3504461549018743e-07]}, \"non_kin\": {}}, \"painting_eexydp_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.067607879638672, -0.49151989817619324, 1.6653974056243896], \"ori\": [0.5002639293670654, -0.49972909688949585, 0.5002707242965698, -0.4997359812259674]}, \"non_kin\": {}}, \"painting_jfkvxh_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.206398010253906, -0.49389922618865967, 1.5869276523590088], \"ori\": [-0.5009388327598572, 0.4990585446357727, 0.5009399652481079, -0.4990592300891876]}, \"non_kin\": {}}, \"painting_ljabhq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.2106497287750244, -0.2890453040599823, 1.6509226560592651], \"ori\": [0.49881505966186523, 0.5011830925941467, 0.49881333112716675, 0.5011829137802124]}, \"non_kin\": {}}, \"picture_abtgvz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.112757682800293, -0.2836590111255646, 1.2025244235992432], \"ori\": [0.5000002980232239, 0.5000003576278687, -0.4999997019767761, 0.4999997019767761]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_aicjaq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.777649998664856, 1.1359729766845703, 1.433369517326355], \"ori\": [0.7067986130714417, -6.17903239685802e-08, -6.18441688970961e-08, 0.7074148058891296]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_aqahkx_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.458420991897583, 2.9817521572113037, 1.1995538473129272], \"ori\": [-0.7070955038070679, 0.00357992947101593, 0.7070999145507812, 0.003584190970286727]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_bzmdxc_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.122528076171875, -0.28473708033561707, 1.1182669401168823], \"ori\": [0.5061323642730713, 0.49379289150238037, -0.5061308145523071, 0.4937916398048401]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_hyjqxp_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.461057424545288, 2.234147310256958, 1.7047309875488281], \"ori\": [-0.7070679068565369, -0.007221968378871679, 0.7070719599723816, -0.007217720150947571]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_jovfqj_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.4018101692199707, -0.17065607011318207, 1.5164811611175537], \"ori\": [0.0003081561590079218, 0.7071067094802856, 0.0003080368915107101, 0.7071068286895752]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_nxjgqw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.186755895614624, 1.1359707117080688, 1.433373212814331], \"ori\": [0.5002177953720093, 0.4997820556163788, -0.4997822940349579, 0.5002176761627197]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_nxqoed_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.221235752105713, -1.2067874670028687, 1.5327051877975464], \"ori\": [-0.7071064710617065, 0.0003078579902648926, 0.7071070671081543, -0.00030785807757638395]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_nzctlq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.4616618156433105, 3.0299863815307617, 1.6523619890213013], \"ori\": [-0.7070979475975037, -0.0031020937021821737, 0.7071020603179932, -0.0030978317372500896]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_rypaxo_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.4617724418640137, 1.8791803121566772, 1.678014874458313], \"ori\": [-0.7070979475975037, -0.0031020937021821737, 0.7071020603179932, -0.0030978317372500896]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_svpzro_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.126955986022949, -0.28473520278930664, 1.0278877019882202], \"ori\": [-0.49632009863853455, 0.5036531686782837, 0.49632135033607483, 0.5036516189575195]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_trqgni_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.221235752105713, -0.5379241704940796, 1.5327049493789673], \"ori\": [-0.7071064710617065, 0.0003078579902648926, 0.7071070671081543, -0.00030785807757638395]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_ttwhjj_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.4601666927337646, 2.5965662002563477, 1.1556940078735352], \"ori\": [-0.7071029543876648, -0.0015775860520079732, 0.7071071267127991, -0.0015733240870758891]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_vezfau_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.460252523422241, 2.1817429065704346, 1.2114461660385132], \"ori\": [-0.7070979475975037, -0.0031020937021821737, 0.7071020603179932, -0.0030978317372500896]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_xnuynn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.2264392375946045, 2.009972333908081, 1.4702473878860474], \"ori\": [-0.707106351852417, 0.0003078579902648926, 0.7071071863174438, -0.0003078581066802144]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_yrkfct_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.461077928543091, 2.663898468017578, 1.7252577543258667], \"ori\": [-0.7070979475975037, -0.0031020937021821737, 0.7071020603179932, -0.0030978317372500896]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"railing_pqzbbb_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.666592597961426, -1.3434768915176392, 0.39411893486976624], \"ori\": [4.62862494998717e-08, 0.7071066498756409, -4.62862494998717e-08, 0.70710688829422]}, \"non_kin\": {}}, \"railing_pqzbbb_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.4759721755981445, -1.3965609073638916, 0.3941192924976349], \"ori\": [-0.7071067094802856, 5.338507591545749e-08, 0.7071068286895752, 5.33850581518891e-08]}, \"non_kin\": {}}, \"railing_pqzbbb_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.666592597961426, 0.5851558446884155, 0.39411893486976624], \"ori\": [4.62862494998717e-08, 0.7071066498756409, -4.62862494998717e-08, 0.70710688829422]}, \"non_kin\": {}}, \"railing_pqzbbb_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.4759721755981445, 0.7380073666572571, 0.3941153883934021], \"ori\": [-0.7071067094802856, 5.338507591545749e-08, 0.7071068286895752, 5.33850581518891e-08]}, \"non_kin\": {}}, \"railing_pqzbbb_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.4759721755981445, -1.4044729471206665, 0.3941153883934021], \"ori\": [-0.7071067094802856, 5.338507591545749e-08, 0.7071068286895752, 5.33850581518891e-08]}, \"non_kin\": {}}, \"room_divider_bydmct_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.4580211639404297, -3.8973333835601807, 0.8730444312095642], \"ori\": [1.7746572744090296e-18, 4.0973257772747296e-12, 1.0, 4.331257628109597e-07]}, \"non_kin\": {}}, \"shelf_sapyzl_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.535496711730957, 2.453587770462036, 1.468758225440979], \"ori\": [-7.550742964212986e-08, 1.0, -3.532567461661529e-06, -2.698101980058709e-06]}, \"non_kin\": {}}, \"shelf_sapyzl_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.5344090461730957, 2.4535882472991943, 0.9452612996101379], \"ori\": [1.9469766243673803e-07, 1.0, -3.532566552166827e-06, -2.6981026621797355e-06]}, \"non_kin\": {}}, \"shower_giialz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.7971031665802002, 3.4692893028259277, 0.030847474932670593], \"ori\": [1.904920395645604e-06, -9.530667171020468e-07, -0.7071068286895752, 0.7071067094802856]}, \"non_kin\": {}}, \"showerhead_afoeoa_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.201631546020508, 3.4443395137786865, 0.8904219269752502], \"ori\": [0.008922404609620571, 0.0006342653650790453, 0.9999201893806458, -0.008922123350203037]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"showerhead_svuhzb_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.1233086585998535, 3.2550814151763916, 1.3249099254608154], \"ori\": [-0.004310344811528921, 0.0056433407589793205, 0.99997478723526, 2.6904222977464087e-05]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"sofa_ukfaaz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.06688928604126, -3.823601722717285, 0.2513422667980194], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"toilet_udiezm_0\": {\"is_asleep\": true, \"root_link\": {\"pos\": [0.47466039657592773, 3.8419888019561768, 0.33443349599838257], \"ori\": [5.587935003603661e-09, -1.382435416141803e-10, -0.7071069478988647, 0.7071065902709961], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-5.861739587643966e-13], \"joint_vel\": [2.761346490007255e-12], \"non_kin\": {}}, \"towel_rack_qedffr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.7141887545585632, 1.4411866664886475, 1.3130701780319214], \"ori\": [0.0, 0.0, 0.7071066498756409, 0.70710688829422]}, \"non_kin\": {}}, \"wall_mounted_light_etqbld_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.3275396823883057, 2.918764591217041, 1.509912371635437], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"wall_mounted_light_etqbld_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.3275396823883057, 1.5165278911590576, 1.509912371635437], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"wall_mounted_tv_sodbbr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.672131299972534, 2.736130714416504, 1.359227180480957], \"ori\": [4.371138118131057e-08, -4.3711395392165286e-08, 1.0, 1.9470718370939721e-07]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"wall_socket_plssag_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.636751174926758, 1.3433526754379272, 0.16072995960712433], \"ori\": [1.9670444828534528e-08, -0.7071066498756409, 1.9670364892476755e-08, 0.70710688829422]}, \"non_kin\": {}}, \"wall_socket_plssag_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.465231895446777, -2.451951742172241, 0.18528853356838226], \"ori\": [1.9670444828534528e-08, -0.7071066498756409, 1.9670364892476755e-08, 0.70710688829422]}, \"non_kin\": {}}, \"walls_boflea_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.09483455866575241, 4.172773361206055, 0.6908961534500122], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_eguptx_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.530637741088867, 2.4848246574401855, 1.1410846710205078], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_hddwcd_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.342838764190674, 2.5853328704833984, 1.139294981956482], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_jpdrrk_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.5213983058929443, 1.9687899351119995, 1.2245458364486694], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_ldoefg_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.34096622467041, -3.198519229888916, 1.131188154220581], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_lempwq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.3455681800842285, -0.39413031935691833, 1.2223286628723145], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_oglchp_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.531142711639404, -0.3776160180568695, 1.2223286628723145], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_rscyjh_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.530633449554443, -3.1719491481781006, 1.1329281330108643], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_slooel_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.09483300894498825, -4.791778087615967, 0.690896213054657], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_vastci_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.3453190326690674, -0.23936332762241364, 1.2232003211975098], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_wjblrc_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.465503692626953, -0.38980633020401, 1.2223286628723145], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_ynhwyn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.07444615662097931, 1.2459226846694946, 1.2771285772323608], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_zlekao_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.34283971786499, -0.3296562433242798, 1.2223284244537354], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"mousetrap_47\": {\"is_asleep\": true, \"root_link\": {\"pos\": [2.1560733318328857, 2.2875380516052246, 0.8861351609230042], \"ori\": [-5.707881882699439e-07, 7.504566747229546e-05, 0.3034686744213104, 0.9528414607048035], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"mousetrap_48\": {\"is_asleep\": true, \"root_link\": {\"pos\": [1.8828887939453125, 1.7635189294815063, 0.8861985802650452], \"ori\": [-6.770692561985925e-05, 3.144698712276295e-05, -0.7306309938430786, 0.6827725768089294], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"mousetrap_49\": {\"is_asleep\": true, \"root_link\": {\"pos\": [2.171238660812378, 1.895473837852478, 0.8861513733863831], \"ori\": [6.441817822633311e-05, 3.778093014261685e-05, 0.9764238595962524, 0.2158622443675995], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"mousetrap_50\": {\"is_asleep\": true, \"root_link\": {\"pos\": [2.0749459266662598, 1.6500555276870728, 0.8861764669418335], \"ori\": [-3.604445737437345e-05, 6.6022141254507e-05, -0.17575165629386902, 0.9844345450401306], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"robot_r1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.243072509765625, 2.041015625, 0.003753662109375], \"ori\": [-0.0038814980071038008, 0.003236955963075161, 0.6089481711387634, 0.7931939363479614], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [0.0001679412816883996, 0.0001333730760961771, 0.0012396910460665822, 0.0007054210873320699, -0.00884549506008625, -0.0008390774019062519, 1.025026798248291, -1.4499412775039673, -0.4699747562408447, -2.4162263798643835e-06, -4.849006290896796e-05, -3.606649988796562e-05, 1.6459465257412376e-07, 1.4381932089690963e-07, 6.717923042742768e-06, 1.9532775695552118e-05, -1.5018588328530313e-06, -1.624174547032453e-05, -1.3616725027532084e-06, 1.2455317119020037e-05, -5.0655080485739745e-06, 6.799490392950247e-08, 3.994784947281005e-07, 2.6027004196294e-07, 0.04999986290931702, 0.04999999329447746, 0.04999988526105881, 0.04999997094273567], \"joint_vel\": [-0.017845649272203445, 0.002601217245683074, -0.00576529186218977, 0.003459020983427763, -0.03633609414100647, -0.006500404328107834, -0.15915969014167786, -0.28602778911590576, -0.1821247786283493, 0.002364371670410037, 0.053066547960042953, 0.03603505715727806, 7.094665488693863e-05, 0.00014260153693612665, 0.007105514407157898, 0.005625290796160698, -0.01566961035132408, 0.013350402005016804, -0.004724782891571522, -0.014043912291526794, 0.010433685034513474, -0.0010027219541370869, -0.006709852255880833, -0.006917067337781191, 0.00023624963068868965, -0.00017301215848419815, 0.0002694274880923331, -0.00017266372742597014], \"controllers\": {\"base\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.0, 0.0, 0.0]}}, \"trunk\": {\"goal_is_valid\": true, \"goal\": {\"target\": [1.024999976158142, -1.4500000476837158, -0.4699999988079071, 0.0]}}, \"arm_left\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, \"gripper_left\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.05000000074505806]}, \"vel_filter\": {\"past_samples\": [[3.576278459149762e-06, 2.6822087875189027e-06], [4.099916259292513e-05, -1.8866758182412013e-06], [2.1090536392875947e-05, -1.5866498870309442e-05], [1.3411043937594513e-06, 8.940696147874405e-07], [-8.940695806813892e-06, -2.6822087875189027e-06]], \"current_idx\": 0, \"fully_filled\": true}}, \"arm_right\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, \"gripper_right\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.05000000074505806]}, \"vel_filter\": {\"past_samples\": [[-1.788139229574881e-06, 4.4703480739372026e-07], [6.618852057727054e-05, -3.711786848725751e-05], [2.5401719540241174e-05, -5.184856490814127e-07], [0.0, -2.235173951703473e-06], [-4.023313522338867e-06, 5.364417575037805e-06]], \"current_idx\": 0, \"fully_filled\": true}}}, \"non_kin\": {}, \"ag_obj_constraint_params\": {\"left\": {}, \"right\": {}}}}}}}, \"type\": \"InteractiveTraversableScene\", \"scene_model\": \"house_double_floor_upper\", \"load_room_types\": null, \"load_room_instances\": [\"bathroom_0\", \"bathroom_1\"], \"include_robots\": false}, \"robots\": [{\"type\": \"R1Pro\", \"name\": \"robot_r1\", \"action_normalize\": false, \"controller_config\": {\"arm_left\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"arm_right\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"gripper_left\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"gripper_right\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"base\": {\"name\": \"HolonomicBaseJointController\", \"motor_type\": \"velocity\", \"vel_kp\": 150, \"command_input_limits\": [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]], \"command_output_limits\": [[-0.75, -0.75, -1.0], [0.75, 0.75, 1.0]], \"use_impedances\": false}, \"trunk\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"camera\": {\"name\": \"NullJointController\"}}, \"self_collisions\": true, \"obs_modalities\": [\"proprio\"], \"position\": [0.243072509765625, 2.041015625, 0.003753662109375], \"orientation\": [-0.003881497774273157, 0.0032369557302445173, 0.6089481711387634, 0.7931939363479614], \"grasping_mode\": \"assisted\", \"sensor_config\": {\"VisionSensor\": {\"modalities\": [\"rgb\", \"depth_linear\", \"seg_semantic\", \"seg_instance_id\"], \"sensor_kwargs\": {\"image_height\": 480, \"image_width\": 480}}}, \"reset_joint_pos\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.024999976158142, -1.4500000476837158, -0.4699999988079071, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806], \"include_sensor_names\": null, \"exclude_sensor_names\": null, \"proprio_obs\": [\"joint_qpos\", \"joint_qpos_sin\", \"joint_qpos_cos\", \"joint_qvel\", \"joint_qeffort\", \"robot_pos\", \"robot_ori_cos\", \"robot_ori_sin\", \"robot_2d_ori\", \"robot_2d_ori_cos\", \"robot_2d_ori_sin\", \"robot_lin_vel\", \"robot_ang_vel\", \"arm_left_qpos\", \"arm_left_qpos_sin\", \"arm_left_qpos_cos\", \"arm_left_qvel\", \"eef_left_pos\", \"eef_left_quat\", \"grasp_left\", \"gripper_left_qpos\", \"gripper_left_qvel\", \"arm_right_qpos\", \"arm_right_qpos_sin\", \"arm_right_qpos_cos\", \"arm_right_qvel\", \"eef_right_pos\", \"eef_right_quat\", \"grasp_right\", \"gripper_right_qpos\", \"gripper_right_qvel\", \"trunk_qpos\", \"trunk_qvel\", \"base_qpos\", \"base_qpos_sin\", \"base_qpos_cos\", \"base_qvel\"]}], \"objects\": [], \"task\": {\"type\": \"BehaviorTask\", \"activity_name\": \"setting_mousetraps\", \"activity_definition_id\": 0, \"activity_instance_id\": 0, \"predefined_problem\": null, \"online_object_sampling\": false, \"debug_object_sampling\": false, \"highlight_task_relevant_objects\": false, \"termination_config\": {\"max_steps\": 50000}, \"reward_config\": {\"r_potential\": 1.0}, \"include_obs\": true}, \"wrapper\": {\"type\": null}}",
+    "scene_file": "{\n    \"versions\": {\n        \"omnigibson\": {\n            \"version\": \"3.7.0-alpha\",\n            \"git_hash\": \"e761ebef709dfd95355fa449e7532eabde23d3b8\"\n        },\n        \"bddl\": {\n            \"version\": \"3.7.0a0\",\n            \"git_hash\": \"e761ebef709dfd95355fa449e7532eabde23d3b8\"\n        },\n        \"og_dataset\": {\n            \"version\": \"3.7.0rc22\"\n        },\n        \"assets\": {\n            \"version\": null,\n            \"git_hash\": \"edec88373641efb1afc2feacea287bd31a51f16a\"\n        }\n    },\n    \"metadata\": {\n        \"task\": {\n            \"inst_to_name\": {\n                \"agent.n.01_1\": \"robot_r1\",\n                \"cabinet.n.01_1\": \"bottom_cabinet_jhymlr_0\",\n                \"floor.n.01_1\": \"floors_tfuahz_0\",\n                \"mousetrap.n.01_1\": \"mousetrap_50\",\n                \"mousetrap.n.01_2\": \"mousetrap_49\",\n                \"mousetrap.n.01_3\": \"mousetrap_48\",\n                \"mousetrap.n.01_4\": \"mousetrap_47\",\n                \"sink.n.01_1\": \"furniture_sink_ojjqku_0\"\n            }\n        }\n    },\n    \"state\": {\n        \"pos\": [\n            0.0,\n            0.0,\n            0.0\n        ],\n        \"ori\": [\n            0.0,\n            0.0,\n            0.0,\n            1.0\n        ],\n        \"registry\": {\n            \"system_registry\": {},\n            \"object_registry\": {\n                \"bottom_cabinet_jhymlr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.092590808868408,\n                            2.0246498584747314,\n                            0.49188706278800964\n                        ],\n                        \"ori\": [\n                            9.5367431640625e-07,\n                            1.6076186511781998e-05,\n                            1.0,\n                            -5.523504569282522e-07\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                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0\n                    ],\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"electric_switch_strbnw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.30884644389152527,\n                            1.3495941162109375,\n                            1.2362018823623657\n                        ],\n                        \"ori\": [\n                            0.023773042485117912,\n                            -0.022032978013157845,\n                            0.6989905834197998,\n                            0.7143961191177368\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"hook_akwlam_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.3908509612083435,\n                            4.0813446044921875,\n                            1.029435396194458\n                        ],\n                        \"ori\": [\n                            0.4999999403953552,\n                            0.5,\n                            -0.4999999403953552,\n                            0.5000001192092896\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"serving_cart_vvtcby_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.0553499460220337,\n                            1.65486741065979,\n                            0.35387638211250305\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0000001192092896\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"door_dlncrt_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.136253595352173,\n                            2.8556718826293945,\n                            1.0276660919189453\n                        ],\n                        \"ori\": [\n                            -0.00043117048335261643,\n                            -0.00045035535003989935,\n                            0.7264791131019592,\n                            0.6871883273124695\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_pevmgl_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.3618602752685547,\n                            3.7988569736480713,\n                            0.8276898264884949\n                        ],\n                        \"ori\": [\n                            -5.0760423619067296e-05,\n                            -5.080047412775457e-05,\n                            -0.013736603781580925,\n                            0.9999057054519653\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                \"background_gkemae_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.10513642430305481,\n                            -1.5612900257110596,\n                            -2.0127623081207275\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"bathtub_rufepf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.2975157499313354,\n                            3.488691806793213,\n                            0.2953036427497864\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"ceilings_gznlyj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.468292713165283,\n                            -2.674513816833496,\n                            2.3836891651153564\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            -7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_laeuzw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.7077958583831787,\n                            -2.1586220264434814,\n                            2.4162521362304688\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            -7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_mbrukp_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -4.461474418640137,\n                            1.9713948965072632,\n                            2.394315719604492\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_qhcqdn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.08801434934139252,\n                            2.7923336029052734,\n                            2.2950093746185303\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_srlfnq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.468295097351074,\n                            1.977994441986084,\n                            2.3930435180664062\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"door_pxhbim_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.20764049887657166,\n                            1.2351009845733643,\n                            1.1892328262329102\n                        ],\n                        \"ori\": [\n                            1.601234544068575e-06,\n                            1.6610980537734577e-06,\n                            0.70710688829422,\n                            -0.70710688829422\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_pxhbim_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.5292775630950928,\n                            0.6931469440460205,\n                            1.1892331838607788\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0000001192092896\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_pxhbim_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.315669059753418,\n                            0.6993893384933472,\n                            1.1892321109771729\n                        ],\n                        \"ori\": [\n                            2.5443732738494873e-06,\n                            4.3742705457816555e-08,\n                            1.000000238418579,\n                            -1.9463186617940664e-07\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_pxhbim_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.3249032497406006,\n                            -2.3868300914764404,\n                            1.1892367601394653\n                        ],\n                        \"ori\": [\n                            2.5443732738494873e-06,\n                            4.3742705457816555e-08,\n                            1.000000238418579,\n                            -1.9463186617940664e-07\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                \"downlight_vlplia_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.7261415719985962,\n                            1.7027359008789062,\n                            2.3463408946990967\n                        ],\n                        \"ori\": [\n                            0.008096667937934399,\n                            0.001065945951268077,\n                            0.13052134215831757,\n                            0.9914118647575378\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_vlplia_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.5056444406509399,\n                            1.7027353048324585,\n                            2.346337080001831\n                        ],\n                        \"ori\": [\n                            0.008096667937934399,\n                            0.001065945951268077,\n                            0.13052134215831757,\n                            0.9914118647575378\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_vlplia_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.9353467226028442,\n                            1.702736258506775,\n                            2.3463337421417236\n                        ],\n                        \"ori\": [\n                            0.008096667937934399,\n                            0.001065945951268077,\n                            0.13052134215831757,\n                            0.9914118647575378\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_vlplia_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.7148566246032715,\n                            1.7027324438095093,\n                            2.3463408946990967\n                        ],\n                        \"ori\": [\n                            0.008096667937934399,\n                            0.001065945951268077,\n                            0.13052134215831757,\n                            0.9914118647575378\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"fixed_window_etjpqr_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.08578544855117798,\n                            3.3733649253845215,\n                            2.0990777015686035\n                        ],\n                        \"ori\": [\n                            0.2933119833469391,\n                            -0.293312132358551,\n                            0.6434037685394287,\n                            0.643403172492981\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_dcxicr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.468292713165283,\n                            -2.63045334815979,\n                            -0.15000000596046448\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_nlswvt_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -4.461475372314453,\n                            1.926833987236023,\n                            -0.15000000596046448\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_rfqizg_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.9037261009216309,\n                            -2.049670696258545,\n                            -0.15000000596046448\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_tfuahz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.08801501989364624,\n                            2.746849536895752,\n                            -0.15000000596046448\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_zrhxwn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.468293190002441,\n                            1.9268227815628052,\n                            -0.15000000596046448\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"furniture_sink_ojjqku_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.1639554500579834,\n                            2.223419427871704,\n                            0.6277831196784973\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        },\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"mirror_ovdinr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.3946311473846436,\n                            2.223405599594116,\n                            1.4635725021362305\n                        ],\n                        \"ori\": [\n                            -1.4031301986960898e-07,\n                            0.7071071863174438,\n                            -0.707106351852417,\n                            1.3504461549018743e-07\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"picture_xnuynn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.2264392375946045,\n                            2.009972333908081,\n                            1.470247745513916\n                        ],\n                        \"ori\": [\n                            -0.7071062922477722,\n                            0.0003078579611610621,\n                            0.7071071267127991,\n                            -0.0003078581066802144\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"shower_giialz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.7971031665802002,\n                            3.4692893028259277,\n                            0.030847474932670593\n                        ],\n                        \"ori\": [\n                            -1.9049205093324417e-06,\n                            9.530667739454657e-07,\n                            0.7071068286895752,\n                            -0.7071067094802856\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"showerhead_afoeoa_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.201632261276245,\n                            3.444338798522949,\n                            0.8904217481613159\n                        ],\n                        \"ori\": [\n                            0.008922404609620571,\n                            0.0006342653650790453,\n                            0.9999201893806458,\n                            -0.008922123350203037\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"showerhead_svuhzb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.123307943344116,\n                            3.2550814151763916,\n                            1.3249099254608154\n                        ],\n                        \"ori\": [\n                            -0.004310344811528921,\n                            0.0056433407589793205,\n                            0.99997478723526,\n                            2.6904222977464087e-05\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"toilet_udiezm_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.47466039657592773,\n                            3.8419888019561768,\n                            0.33443349599838257\n                        ],\n                        \"ori\": [\n                            -6.51925802230835e-09,\n                            -3.2014213502407074e-10,\n                            0.7071070671081543,\n                            -0.7071066498756409\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                \"towel_rack_qedffr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.7141887545585632,\n                            1.4411866664886475,\n                            1.3130701780319214\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7071066498756409,\n                            0.70710688829422\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"wall_mounted_light_etqbld_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.3275396823883057,\n                            2.918764591217041,\n                            1.509912371635437\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"wall_mounted_light_etqbld_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.3275396823883057,\n                            1.5165278911590576,\n                            1.509912371635437\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_boflea_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.09483455866575241,\n                            4.172773361206055,\n                            0.6908961534500122\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_eguptx_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.530637741088867,\n                            2.4848246574401855,\n                            1.1410846710205078\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_hddwcd_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.342838764190674,\n                            2.5853328704833984,\n                            1.139294981956482\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_jpdrrk_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.5213983058929443,\n                            1.9687899351119995,\n                            1.2245458364486694\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_ldoefg_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.34096622467041,\n                            -3.198519229888916,\n                            1.131188154220581\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_lempwq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -4.3455681800842285,\n                            -0.39413031935691833,\n                            1.2223286628723145\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_oglchp_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.531142711639404,\n                            -0.3776160180568695,\n                            1.2223286628723145\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_rscyjh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.530633449554443,\n                            -3.1719491481781006,\n                            1.1329281330108643\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_slooel_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.09483300894498825,\n                            -4.791778087615967,\n                            0.690896213054657\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_vastci_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.3453190326690674,\n                            -0.23936332762241364,\n                            1.2232003211975098\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_wjblrc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.465503692626953,\n                            -0.38980633020401,\n                            1.2223286628723145\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_ynhwyn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.07444615662097931,\n                            1.2459226846694946,\n                            1.2771285772323608\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_zlekao_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.34283971786499,\n                            -0.3296562433242798,\n                            1.2223284244537354\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"mousetrap_47\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.1560733318328857,\n                            2.2875380516052246,\n                            0.8861351609230042\n                        ],\n                        \"ori\": [\n                            -5.705514922738075e-07,\n                            7.50455292291008e-05,\n                            0.3034684956073761,\n                            0.9528414607048035\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"mousetrap_48\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.8828887939453125,\n                            1.7635189294815063,\n                            0.8861985802650452\n                        ],\n                        \"ori\": [\n                            6.770691834390163e-05,\n                            -3.144744550809264e-05,\n                            0.7306309938430786,\n                            -0.6827725768089294\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"mousetrap_49\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.171238660812378,\n                            1.895473837852478,\n                            0.8861513733863831\n                        ],\n                        \"ori\": [\n                            6.441841833293438e-05,\n                            3.778093741857447e-05,\n                            0.976423978805542,\n                            0.21586227416992188\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"mousetrap_50\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.0749459266662598,\n                            1.6500555276870728,\n                            0.8861764669418335\n                        ],\n                        \"ori\": [\n                            -3.604451194405556e-05,\n                            6.602201756322756e-05,\n                            -0.17575158178806305,\n                            0.9844344854354858\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"robot_r1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.243072509765625,\n                            2.041015625,\n                            0.003753662109375\n                        ],\n                        \"ori\": [\n                            -0.0038814980071038008,\n                            0.0032369557302445173,\n                            0.6089481115341187,\n                            0.7931939363479614\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                        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                    \"joint_vel\": [\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                        0.0,\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                    ],\n                    \"controllers\": {\n                        \"base\": {\n                            \"goal_is_valid\": false,\n                            \"goal\": null\n                        },\n                        \"trunk\": {\n                            \"goal_is_valid\": false,\n                            \"goal\": null\n                        },\n                        \"arm_left\": {\n                            \"goal_is_valid\": false,\n                            \"goal\": null\n                        },\n                        \"gripper_left\": {\n                            \"goal_is_valid\": false,\n                            \"goal\": null,\n                            \"vel_filter\": {\n                                \"past_samples\": [\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        -0.0,\n                                        -0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ]\n                                ],\n                                \"current_idx\": 0,\n                                \"fully_filled\": false\n                            }\n                        },\n                        \"arm_right\": {\n                            \"goal_is_valid\": false,\n                            \"goal\": null\n                        },\n                        \"gripper_right\": {\n                            \"goal_is_valid\": false,\n                            \"goal\": null,\n                            \"vel_filter\": {\n                                \"past_samples\": [\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        -0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ]\n                                ],\n                                \"current_idx\": 0,\n                                \"fully_filled\": false\n                            }\n                        }\n                    },\n                    \"non_kin\": {},\n                    \"ag_obj_constraint_params\": {\n                        \"left\": {},\n                        \"right\": {}\n                    }\n                }\n            }\n        }\n    },\n    \"init_info\": {\n        \"class_module\": \"omnigibson.scenes.interactive_traversable_scene\",\n        \"class_name\": \"InteractiveTraversableScene\",\n        \"args\": {\n            \"scene_model\": \"house_double_floor_upper\",\n            \"scene_instance\": \"house_double_floor_upper_task_setting_mousetraps_0_0_template\",\n            \"scene_file\": {\n                \"metadata\": {\n                    \"task\": {\n                        \"inst_to_name\": {\n                            \"agent.n.01_1\": \"robot_r1\",\n                            \"cabinet.n.01_1\": \"bottom_cabinet_jhymlr_0\",\n                            \"floor.n.01_1\": \"floors_tfuahz_0\",\n                            \"mousetrap.n.01_1\": \"mousetrap_50\",\n                            \"mousetrap.n.01_2\": \"mousetrap_49\",\n                            \"mousetrap.n.01_3\": \"mousetrap_48\",\n                            \"mousetrap.n.01_4\": \"mousetrap_47\",\n                            \"sink.n.01_1\": \"furniture_sink_ojjqku_0\"\n                        }\n                    }\n                },\n                \"init_info\": {\n                    \"class_module\": \"omnigibson.scenes.interactive_traversable_scene\",\n                    \"class_name\": \"InteractiveTraversableScene\",\n                    \"args\": {\n                        \"scene_model\": \"house_double_floor_upper\",\n                        \"scene_instance\": \"house_double_floor_upper_task_setting_mousetraps_0_0_template\",\n                        \"scene_file\": null,\n                        \"trav_map_resolution\": 0.1,\n                        \"default_erosion_radius\": 0.0,\n                        \"trav_map_with_objects\": true,\n                        \"num_waypoints\": 10,\n                        \"waypoint_resolution\": 0.2,\n                        \"load_room_types\": null,\n                        \"load_room_instances\": null,\n                        \"include_robots\": true\n                    }\n                },\n                \"objects_info\": {\n                    \"init_info\": {\n                        \"bottom_cabinet_jhymlr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_jhymlr_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"jhymlr\",\n                                \"scale\": [\n                                    1.6128703355789185,\n                                    1.7241984605789185,\n                                    2.0688953399658203\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5768fc81dcf894b09d1da7973f938812\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_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                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_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                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"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                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cd26cdf4218828dd96594770b29c0c7d\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                                    0.9989968538284302,\n                                    0.999685525894165,\n                                    0.9994485974311829\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"70964dcc6fb99eeb3b2174e2df0c44f9\"\n                            }\n                        },\n                        \"stairs_tikozn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"stairs_tikozn_0\",\n                                \"category\": \"stairs\",\n                                \"model\": \"tikozn\",\n                                \"scale\": [\n                                    0.9999832510948181,\n                                    0.9999979138374329,\n                                    1.0000052452087402\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"serving_cart_vvtcby_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"serving_cart_vvtcby_0\",\n                                \"category\": \"serving_cart\",\n                                \"model\": \"vvtcby\",\n                                \"scale\": [\n                                    1.0001310110092163,\n                                    0.9999819993972778,\n                                    1.0000241994857788\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"19e8a8e5214fe05dc14252404addc7a1\"\n                            }\n                        },\n                        \"bookcase_eckdny_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_eckdny_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"eckdny\",\n                                \"scale\": [\n                                    1.0001277923583984,\n                                    0.9999730587005615,\n                                    0.9999985098838806\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_dlncrt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_dlncrt_0\",\n                                \"category\": \"door\",\n                                \"model\": \"dlncrt\",\n                                \"scale\": [\n                                    1.0001740455627441,\n                                    1.0000379085540771,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"398896fe689aa058c8a21309dfb1dc7b\"\n                            }\n                        },\n                        \"door_pevmgl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pevmgl_0\",\n                                \"category\": \"door\",\n                                \"model\": \"pevmgl\",\n                                \"scale\": [\n                                    1.0003702640533447,\n                                    1.0000139474868774,\n                                    0.999976634979248\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1fc36a86ee715dc424ac9643b6d94b89\"\n                            }\n                        },\n                        \"armchair_axcwcm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_axcwcm_0\",\n                                \"category\": \"armchair\",\n                                \"model\": \"axcwcm\",\n                                \"scale\": [\n                                    0.9999984502792358,\n                                    0.9999963045120239,\n                                    0.9999688863754272\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"coffee_table_osroux_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"coffee_table_osroux_0\",\n                                \"category\": \"coffee_table\",\n                                \"model\": \"osroux\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000073909759521,\n                                    0.9999943971633911\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floor_lamp_mqfdjk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floor_lamp_mqfdjk_0\",\n                                \"category\": \"floor_lamp\",\n                                \"model\": \"mqfdjk\",\n                                \"scale\": [\n                                    1.000029444694519,\n                                    1.0000795125961304,\n                                    1.000067114830017\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floor_lamp_ogolip_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floor_lamp_ogolip_0\",\n                                \"category\": \"floor_lamp\",\n                                \"model\": \"ogolip\",\n                                \"scale\": [\n                                    0.9999575018882751,\n                                    0.9999538064002991,\n                                    0.9999926686286926\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"nightstand_aykehx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_aykehx_0\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"aykehx\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    0.9999998211860657\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"nightstand_roxnbe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_roxnbe_0\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"roxnbe\",\n                                \"scale\": [\n                                    0.9999985098838806,\n                                    0.999971330165863,\n                                    0.9999985694885254\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"nightstand_roxnbe_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_roxnbe_1\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"roxnbe\",\n                                \"scale\": [\n                                    0.9999985098838806,\n                                    0.999971330165863,\n                                    0.9999985694885254\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"nightstand_uzxrlg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_uzxrlg_0\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"uzxrlg\",\n                                \"scale\": [\n                                    1.0000001192092896,\n                                    1.0000001192092896,\n                                    1.0000001192092896\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_qsnawv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_qsnawv_0\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"qsnawv\",\n                                \"scale\": [\n                                    1.0000733137130737,\n                                    1.0000184774398804,\n                                    1.0000115633010864\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"swivel_chair_iiihwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"swivel_chair_iiihwn_0\",\n                                \"category\": \"swivel_chair\",\n                                \"model\": \"iiihwn\",\n                                \"scale\": [\n                                    0.999993085861206,\n                                    1.0000238418579102,\n                                    0.9999864101409912\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"table_lamp_erfbgw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"table_lamp_erfbgw_0\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"erfbgw\",\n                                \"scale\": [\n                                    0.9999635219573975,\n                                    0.9999635219573975,\n                                    1.0001020431518555\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"table_lamp_erfbgw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"table_lamp_erfbgw_1\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"erfbgw\",\n                                \"scale\": [\n                                    0.9999635219573975,\n                                    0.9999635219573975,\n                                    1.0001020431518555\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_lshxmu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"table_lamp_lshxmu_0\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"lshxmu\",\n                                \"scale\": [\n                                    1.0000922679901123,\n                                    0.999626874923706,\n                                    1.0000587701797485\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"table_lamp_wbcgev_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"table_lamp_wbcgev_0\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"wbcgev\",\n                                \"scale\": [\n                                    0.9998542070388794,\n                                    0.9999491572380066,\n                                    1.000084400177002\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n                                    1.0000039339065552,\n                                    0.9999995827674866,\n                                    1.0000026226043701\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2bc4a006daca9351ac898d0761041c38\"\n                            }\n                        },\n                        \"bathtub_rufepf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bathtub_rufepf_0\",\n                                \"category\": \"bathtub\",\n                                \"model\": \"rufepf\",\n                                \"scale\": [\n                                    1.0000211000442505,\n                                    0.9999750256538391,\n                                    0.9999595284461975\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"69c884f53299f74e1a2aabc35bdda902\"\n                            }\n                        },\n                        \"bed_klcjcy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_klcjcy_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"klcjcy\",\n                                \"scale\": [\n                                    1.0000180006027222,\n                                    1.0000228881835938,\n                                    1.0000157356262207\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bed_siuxgz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bed_tjfzsb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_tjfzsb_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"tjfzsb\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    0.9999977350234985,\n                                    0.9999493956565857\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_bsvnni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_bsvnni_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"bsvnni\",\n                                \"scale\": [\n                                    0.9998963475227356,\n                                    1.000018835067749,\n                                    1.0000661611557007\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_1\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_1\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_2\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n                                \"scale\": [\n                                    1.000010371208191,\n                                    0.9999898672103882,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"df2ed67ddeef16eea72e763e5d91c9c1\"\n                            }\n                        },\n                        \"ceilings_laeuzw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_laeuzw_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"laeuzw\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    1.000000238418579,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1435d0a340affd2745ef24a87dfadf95\"\n                            }\n                        },\n                        \"ceilings_mbrukp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_mbrukp_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"mbrukp\",\n                                \"scale\": [\n                                    1.0000112056732178,\n                                    0.9999985694885254,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"563440674cd06777a07cf0a657a79f85\"\n                            }\n                        },\n                        \"ceilings_qhcqdn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_qhcqdn_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"qhcqdn\",\n                                \"scale\": [\n                                    1.000006914138794,\n                                    1.000015377998352,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4378e4d502ab2b44d2d995aba6ecf8ba\"\n                            }\n                        },\n                        \"ceilings_srlfnq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_srlfnq_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"srlfnq\",\n                                \"scale\": [\n                                    1.0000112056732178,\n                                    0.9999985694885254,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7de031908731c0380b93cd9536d4531\"\n                            }\n                        },\n                        \"desk_aduafr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_aduafr_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"aduafr\",\n                                \"scale\": [\n                                    0.9999683499336243,\n                                    0.9999781847000122,\n                                    0.9999521970748901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n                                \"scale\": [\n                                    1.0000251531600952,\n                                    1.0000274181365967,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_0\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_1\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\"\n                            }\n                        },\n                        \"downlight_vlplia_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d5921c643dcc0a93992005a7b3bdc4d6\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4de9acb9f9f9c143725d95862649d0dc\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"furniture_sink_ojjqku_0\",\n                                \"category\": \"furniture_sink\",\n                                \"model\": \"ojjqku\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000003576278687,\n                                    0.9999823570251465\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"82dc0a7a598004d55e2aec9c50f80570\"\n                            }\n                        },\n                        \"map_fdtxut_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"map_fdtxut_0\",\n                                \"category\": \"map\",\n                                \"model\": \"fdtxut\",\n                                \"scale\": [\n                                    0.9997681379318237,\n                                    0.9999114871025085,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"map_hsbtqi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"map_hsbtqi_0\",\n                                \"category\": \"map\",\n                                \"model\": \"hsbtqi\",\n                                \"scale\": [\n                                    0.9997706413269043,\n                                    0.9998932480812073,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"mirror_ovdinr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_ovdinr_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"ovdinr\",\n                                \"scale\": [\n                                    0.9987460374832153,\n                                    1.0000121593475342,\n                                    1.0000134706497192\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"67a77083280f1faa491263ccc1c01a1b\"\n                            }\n                        },\n                        \"painting_eexydp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_eexydp_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"eexydp\",\n                                \"scale\": [\n                                    1.0030890703201294,\n                                    0.9999678134918213,\n                                    1.0000113248825073\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"painting_jfkvxh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_jfkvxh_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"jfkvxh\",\n                                \"scale\": [\n                                    1.001561164855957,\n                                    0.9999836683273315,\n                                    1.0000487565994263\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"painting_ljabhq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_ljabhq_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"ljabhq\",\n                                \"scale\": [\n                                    1.0005065202713013,\n                                    0.9999780058860779,\n                                    1.0000290870666504\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_abtgvz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_abtgvz_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"abtgvz\",\n                                \"scale\": [\n                                    1.0004545450210571,\n                                    1.000188946723938,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_aicjaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_aicjaq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"aicjaq\",\n                                \"scale\": [\n                                    1.0000500679016113,\n                                    0.9999763369560242,\n                                    1.0017871856689453\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_aqahkx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_aqahkx_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"aqahkx\",\n                                \"scale\": [\n                                    1.000043511390686,\n                                    0.9999478459358215,\n                                    0.9999922513961792\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_bzmdxc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_bzmdxc_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"bzmdxc\",\n                                \"scale\": [\n                                    0.9997698068618774,\n                                    0.9997700452804565,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_hyjqxp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_hyjqxp_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"hyjqxp\",\n                                \"scale\": [\n                                    0.9998784065246582,\n                                    1.000119686126709,\n                                    0.9999837279319763\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_jovfqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_jovfqj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"jovfqj\",\n                                \"scale\": [\n                                    0.9999560713768005,\n                                    1.0000486373901367,\n                                    1.001761794090271\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    1.0000498294830322,\n                                    1.0017874240875244\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_nxqoed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxqoed_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxqoed\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_nzctlq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nzctlq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nzctlq\",\n                                \"scale\": [\n                                    0.9998580813407898,\n                                    0.9999564290046692,\n                                    0.9999911785125732\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_rypaxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_rypaxo_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"rypaxo\",\n                                \"scale\": [\n                                    1.0001418590545654,\n                                    1.0001705884933472,\n                                    0.9999890327453613\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_svpzro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_svpzro_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"svpzro\",\n                                \"scale\": [\n                                    0.9995415210723877,\n                                    1.0002294778823853,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"xnuynn\",\n                                \"scale\": [\n                                    1.0000395774841309,\n                                    1.0000495910644531,\n                                    0.9983996152877808\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6e01399d75ae2c6f23057e40025741bf\"\n                            }\n                        },\n                        \"picture_yrkfct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_1\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shower_giialz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shower_giialz_0\",\n                                \"category\": \"shower\",\n                                \"model\": \"giialz\",\n                                \"scale\": [\n                                    1.0000324249267578,\n                                    0.9999755620956421,\n                                    1.0006901025772095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cf630a00a84967aab7bb068344439759\"\n                            }\n                        },\n                        \"showerhead_afoeoa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_afoeoa_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"afoeoa\",\n                                \"scale\": [\n                                    0.999765932559967,\n                                    0.9998961687088013,\n                                    1.000025987625122\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b3480047d2d31897fbbf0cefc1a98c85\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"727c61154828795a818eca71499da6c2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n                                    1.0000375509262085,\n                                    1.0000358819961548,\n                                    0.9999516010284424\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fbdda5783bee01746d910c803848818c\"\n                            }\n                        },\n                        \"towel_rack_qedffr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"towel_rack_qedffr_0\",\n                                \"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ef1df2a98e95c50b3881f1a7e0a30ba9\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b3d1fa09d42d3772b84e89066d857d16\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_1\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b3d1fa09d42d3772b84e89066d857d16\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_0\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"boflea\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    0.9999855160713196,\n                                    1.0000048875808716\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e63c71f569287aec8457267e8d593189\"\n                            }\n                        },\n                        \"walls_eguptx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_eguptx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"eguptx\",\n                                \"scale\": [\n                                    1.000280499458313,\n                                    0.9999999403953552,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"18f1efa2229070e2c4e00576cff3808e\"\n                            }\n                        },\n                        \"walls_hddwcd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hddwcd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cdef188b4094c5806eee3577d7722fed\"\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"32e167547393ebdf51cdeb48e4bddbd7\"\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b0ff26d26a0e7be3149adf0c34fe51e1\"\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3dacdc7222e11faf813308adb492f321\"\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0da8b8cc95f0be8d331ea6c4d03755d4\"\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9567d28d0aa8832f19d34163b2c7e4dc\"\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"07b7f38bce91492398cb23f822e1125b\"\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7c7e24a26487ee49b3fcd7f2195d6018\"\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"07f7ce729de8896f7464dc89e875cd56\"\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2dd4218d6107361b9fe45b0817d5cd75\"\n                            }\n                        },\n                        \"walls_zlekao_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zlekao_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zlekao\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.9999727010726929,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"41226ca99e25e4a93f36ea917b7aa998\"\n                            }\n                        },\n                        \"mousetrap_47\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mousetrap_47\",\n                                \"category\": \"mousetrap\",\n                                \"model\": \"mwfwsv\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\n                            }\n                        },\n                        \"mousetrap_48\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mousetrap_48\",\n                                \"category\": \"mousetrap\",\n                                \"model\": \"mwfwsv\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\n                            }\n                        },\n                        \"mousetrap_49\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mousetrap_49\",\n                                \"category\": \"mousetrap\",\n                                \"model\": \"mwfwsv\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\n                            }\n                        },\n                        \"mousetrap_50\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mousetrap_50\",\n                                \"category\": \"mousetrap\",\n                                \"model\": \"mwfwsv\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\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                                \"sensor_config\": {\n                                    \"VisionSensor\": {\n                                        \"sensor_kwargs\": {\n                                            \"image_height\": 1080,\n                                            \"image_width\": 1080\n                                        }\n                                    }\n                                },\n                                \"grasping_mode\": \"assisted\",\n                                \"expected_file_hash\": \"fb7a5df9e48a57ad673b0486a08a6b3f\"\n                            }\n                        }\n                    }\n                },\n                \"state\": {\n                    \"pos\": [\n                        0.0,\n                        0.0,\n                        0.0\n                    ],\n                    \"ori\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.0\n                    ],\n                    \"registry\": {\n                        \"system_registry\": {},\n                        \"object_registry\": {\n                            \"bottom_cabinet_jhymlr_0\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.092590808868408,\n                                        2.0246498584747314,\n                                        0.49188706278800964\n                                    ],\n                                    \"ori\": [\n                                        9.5367431640625e-07,\n                                        1.6076184692792594e-05,\n                                        1.0,\n                                        -5.523504569282522e-07\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                                    9.100510701218616e-29,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    2.866529466199735e-20,\n                                    0.0\n                                ],\n                                \"joint_vel\": [\n                                    1.523328772506266e-26,\n                                    -1.3884577306282292e-17,\n                                    -1.7591427163849502e-26,\n                                    -1.388455083650269e-17,\n                                    -1.7644590534034367e-26,\n                                    -2.6229871617631524e-26\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bottom_cabinet_nddvba_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.532853126525879,\n                                        -4.555397987365723,\n                                        0.3671515882015228\n                                    ],\n                                    \"ori\": [\n                                        -2.8335489332675934e-07,\n                                        -5.410327119648173e-08,\n                                        0.7071069478988647,\n                                        0.7071065902709961\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                                    2.09721351396297e-10,\n                                    2.0853083149141582e-10,\n                                    2.1091606239309613e-10,\n                                    2.0673483758226752e-10\n                                ],\n                                \"joint_vel\": [\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"downlight_fisfbn_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.09026676416397095,\n                                        -2.4358420372009277,\n                                        2.4632391929626465\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                                \"non_kin\": {}\n                            },\n                            \"downlight_fisfbn_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.3512401580810547,\n                                        -2.4358420372009277,\n                                        2.4632391929626465\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                                \"non_kin\": {}\n                            },\n                            \"downlight_fisfbn_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.869446754455566,\n                                        -2.4358420372009277,\n                                        2.4632391929626465\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                                \"non_kin\": {}\n                            },\n                            \"downlight_fisfbn_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.09026669710874557,\n                                        -0.543851912021637,\n                                        2.4632391929626465\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                                \"non_kin\": {}\n                            },\n                            \"downlight_fisfbn_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.4351019859313965,\n                                        1.294590950012207,\n                                        2.4632391929626465\n                                    ],\n                                    \"ori\": [\n                                        7.275957614183426e-12,\n                                        -1.1638689144388703e-11,\n                                        0.7071068286895752,\n                                        0.7071067094802856\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_fisfbn_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.477394104003906,\n                                        1.294590950012207,\n                                        2.4632391929626465\n                                    ],\n                                    \"ori\": [\n                                        7.275957614183426e-12,\n                                        -1.1638689144388703e-11,\n                                        0.7071068286895752,\n                                        0.7071067094802856\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_fisfbn_6\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.477394104003906,\n                                        -1.7681576013565063,\n                                        2.4632391929626465\n                                    ],\n                                    \"ori\": [\n                                        7.275957614183426e-12,\n                                        -1.1638689144388703e-11,\n                                        0.7071068286895752,\n                                        0.7071067094802856\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"electric_switch_strbnw_0\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.30884644389152527,\n                                        1.3495941162109375,\n                                        1.2362018823623657\n                                    ],\n                                    \"ori\": [\n                                        0.023773040622472763,\n                                        -0.0220329649746418,\n                                        0.698990523815155,\n                                        0.7143959999084473\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"electric_switch_strbnw_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.638528823852539,\n                                        1.2987020015716553,\n                                        1.2362018823623657\n                                    ],\n                                    \"ori\": [\n                                        0.032389722764492035,\n                                        0.001230441383086145,\n                                        0.9994152188301086,\n                                        0.010893446393311024\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"fixed_window_lhzwtz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.583202362060547,\n                                        -1.350947380065918,\n                                        1.1077909469604492\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"fixed_window_lhzwtz_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.39258337020874,\n                                        0.7454789876937866,\n                                        1.107787013053894\n                                    ],\n                                    \"ori\": [\n                                        -5.197228992927672e-15,\n                                        6.883938397095335e-08,\n                                        1.0,\n                                        -7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"fixed_window_lhzwtz_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.392583847045898,\n                                        -1.3970016241073608,\n                                        1.1077871322631836\n                                    ],\n                                    \"ori\": [\n                                        -5.197228992927672e-15,\n                                        6.883938397095335e-08,\n                                        1.0,\n                                        -7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"fixed_window_lhzwtz_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.583202362060547,\n                                        0.5852675437927246,\n                                        1.1077910661697388\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"hook_akwlam_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.3908509612083435,\n                                        4.0813446044921875,\n                                        1.029435396194458\n                                    ],\n                                    \"ori\": [\n                                        0.4999999403953552,\n                                        0.5,\n                                        -0.4999999403953552,\n                                        0.5000001192092896\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"stairs_tikozn_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.10555572807788849,\n                                        -2.5288288593292236,\n                                        -1.0919712781906128\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"serving_cart_vvtcby_0\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.0553499460220337,\n                                        1.65486741065979,\n                                        0.35387635231018066\n                                    ],\n                                    \"ori\": [\n                                        5.447474177344702e-05,\n                                        -3.398612875571416e-07,\n                                        1.562620610684462e-07,\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                                \"non_kin\": {}\n                            },\n                            \"bookcase_eckdny_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.60115647315979,\n                                        -3.6889030933380127,\n                                        1.5160777568817139\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"door_dlncrt_0\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.136253595352173,\n                                        2.8556718826293945,\n                                        1.0276660919189453\n                                    ],\n                                    \"ori\": [\n                                        -0.00043117045424878597,\n                                        -0.0004503553209360689,\n                                        0.7264790534973145,\n                                        0.6871883273124695\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                                    4.82574702420635e-10\n                                ],\n                                \"joint_vel\": [\n                                    -1.780511197193354e-14\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_pevmgl_0\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.3618602752685547,\n                                        3.7988569736480713,\n                                        0.8276898264884949\n                                    ],\n                                    \"ori\": [\n                                        -5.076043089502491e-05,\n                                        -5.080042319605127e-05,\n                                        -0.013736601918935776,\n                                        0.9999056458473206\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                                    6.910227390299895e-10\n                                ],\n                                \"joint_vel\": [\n                                    7.11934410892439e-15\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"armchair_axcwcm_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.8402870893478394,\n                                        -2.938621759414673,\n                                        0.45841333270072937\n                                    ],\n                                    \"ori\": [\n                                        -1.0162133548874408e-05,\n                                        0.00017181402654387057,\n                                        -1.3280659914016724e-06,\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                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"coffee_table_osroux_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.684656858444214,\n                                        -2.423295021057129,\n                                        0.1730228066444397\n                                    ],\n                                    \"ori\": [\n                                        -2.5283541617682204e-05,\n                                        -1.696559411357157e-05,\n                                        -0.7071087956428528,\n                                        0.7071047425270081\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floor_lamp_mqfdjk_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.826064348220825,\n                                        1.8580962419509888,\n                                        0.45078128576278687\n                                    ],\n                                    \"ori\": [\n                                        0.0016362910391762853,\n                                        0.006298218388110399,\n                                        0.7069066762924194,\n                                        0.7072769403457642\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"floor_lamp_ogolip_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.062624931335449,\n                                        0.008141862228512764,\n                                        1.0124902725219727\n                                    ],\n                                    \"ori\": [\n                                        -1.6905367374420166e-05,\n                                        0.00044273180537857115,\n                                        0.9976111650466919,\n                                        0.06907779723405838\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"nightstand_aykehx_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.925453186035156,\n                                        2.1115481853485107,\n                                        0.2113630473613739\n                                    ],\n                                    \"ori\": [\n                                        3.1381841836264357e-06,\n                                        0.00018893892411142588,\n                                        0.0001536466443212703,\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                                \"non_kin\": {}\n                            },\n                            \"nightstand_roxnbe_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.9243011474609375,\n                                        3.77669095993042,\n                                        0.4112929105758667\n                                    ],\n                                    \"ori\": [\n                                        3.951135454371979e-07,\n                                        -3.7565979482678813e-07,\n                                        -0.7071093916893005,\n                                        0.7071041464805603\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"nightstand_roxnbe_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.967331886291504,\n                                        3.7767181396484375,\n                                        0.4112929403781891\n                                    ],\n                                    \"ori\": [\n                                        4.244502349592949e-07,\n                                        -4.497288443872094e-07,\n                                        -0.7071036100387573,\n                                        0.7071099281311035\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"nightstand_uzxrlg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.787921190261841,\n                                        -0.8513757586479187,\n                                        0.16321417689323425\n                                    ],\n                                    \"ori\": [\n                                        -0.7071067094802856,\n                                        0.7071068286895752,\n                                        -1.6836565919220448e-08,\n                                        -2.0901778086113154e-08\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ottoman_qsnawv_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.577789783477783,\n                                        1.3802497386932373,\n                                        0.22990447282791138\n                                    ],\n                                    \"ori\": [\n                                        0.0015945957275107503,\n                                        0.0020371023565530777,\n                                        -0.6427991390228271,\n                                        0.7660304307937622\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"swivel_chair_iiihwn_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.50669264793396,\n                                        -3.555370569229126,\n                                        0.4810924530029297\n                                    ],\n                                    \"ori\": [\n                                        -2.9802320611338473e-08,\n                                        1.303851515643828e-08,\n                                        0.9762960076332092,\n                                        -0.21643970906734467\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"table_lamp_erfbgw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.805120944976807,\n                                        3.792064666748047,\n                                        1.0102818012237549\n                                    ],\n                                    \"ori\": [\n                                        -4.045454988954589e-05,\n                                        8.477071969537064e-05,\n                                        0.9238797426223755,\n                                        0.3826829195022583\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"table_lamp_erfbgw_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.924416542053223,\n                                        2.006227731704712,\n                                        0.6192376613616943\n                                    ],\n                                    \"ori\": [\n                                        9.417497494723648e-05,\n                                        0.0002546881150919944,\n                                        -0.3842969536781311,\n                                        0.9232094883918762\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"table_lamp_lshxmu_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.2301324605941772,\n                                        -2.5665626525878906,\n                                        1.0050123929977417\n                                    ],\n                                    \"ori\": [\n                                        -1.1309981346130371e-05,\n                                        -4.39002087659901e-06,\n                                        -0.7071065902709961,\n                                        0.7071069478988647\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"table_lamp_wbcgev_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.6646816730499268,\n                                        -0.9056946635246277,\n                                        0.6474224328994751\n                                    ],\n                                    \"ori\": [\n                                        -5.6438148021698e-07,\n                                        -3.52680217474699e-06,\n                                        -1.3111213775118813e-05,\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                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"taboret_cgwxtq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.227510452270508,\n                                        0.30157414078712463,\n                                        0.3361850380897522\n                                    ],\n                                    \"ori\": [\n                                        3.795139491558075e-08,\n                                        -1.9208528101444244e-09,\n                                        0.9743711948394775,\n                                        0.22494620084762573\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"background_gkemae_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.10513642430305481,\n                                        -1.5612900257110596,\n                                        -2.0127623081207275\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"bathtub_rufepf_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.2975157499313354,\n                                        3.488691806793213,\n                                        0.2953036427497864\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bed_klcjcy_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.159031867980957,\n                                        3.2054555416107178,\n                                        0.2834775149822235\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"bed_siuxgz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.43868350982666,\n                                        2.9527525901794434,\n                                        0.2767050564289093\n                                    ],\n                                    \"ori\": [\n                                        4.214685844772248e-08,\n                                        -4.214685134229512e-08,\n                                        -0.7071068286895752,\n                                        0.7071067094802856\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"bed_tjfzsb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.001486778259277,\n                                        -1.4939584732055664,\n                                        0.2526565194129944\n                                    ],\n                                    \"ori\": [\n                                        2.3180781738574296e-07,\n                                        4.019436964253914e-14,\n                                        -0.7071068286895752,\n                                        0.7071067094802856\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"bookcase_bsvnni_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.327892780303955,\n                                        -3.8727524280548096,\n                                        0.36479100584983826\n                                    ],\n                                    \"ori\": [\n                                        -1.6292067073209182e-07,\n                                        1.6292069915380125e-07,\n                                        1.0,\n                                        1.9470721213110664e-07\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bookcase_kdnyfh_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.8446686267852783,\n                                        3.342196464538574,\n                                        0.3241426348686218\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bookcase_kmuacd_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.246784210205078,\n                                        -0.14068321883678436,\n                                        0.6218990683555603\n                                    ],\n                                    \"ori\": [\n                                        3.218674748950434e-07,\n                                        -1.3894184291984857e-07,\n                                        0.7071070671081543,\n                                        0.7071064710617065\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bookcase_opryhp_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.306008338928223,\n                                        -4.559752941131592,\n                                        0.3657950758934021\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.70710688829422,\n                                        0.7071066498756409\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bookcase_opryhp_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.078645706176758,\n                                        -4.559752941131592,\n                                        0.36579498648643494\n                                    ],\n                                    \"ori\": [\n                                        1.6858743379088992e-07,\n                                        2.3040477969971107e-07,\n                                        0.7071068286895752,\n                                        0.7071067094802856\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bookcase_otwukr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.575839519500732,\n                                        -0.6310573816299438,\n                                        0.5307912230491638\n                                    ],\n                                    \"ori\": [\n                                        2.2507038011099212e-08,\n                                        2.2507050445597088e-08,\n                                        -0.7071066498756409,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bookcase_otwukr_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.0533223152160645,\n                                        -0.6310573816299438,\n                                        0.5307912230491638\n                                    ],\n                                    \"ori\": [\n                                        2.2507038011099212e-08,\n                                        2.2507050445597088e-08,\n                                        -0.7071066498756409,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bookcase_otwukr_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.291658401489258,\n                                        -0.6310573220252991,\n                                        0.5307912230491638\n                                    ],\n                                    \"ori\": [\n                                        2.2507038011099212e-08,\n                                        2.2507050445597088e-08,\n                                        -0.7071066498756409,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bookcase_otwukr_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.814175605773926,\n                                        -0.6310573220252991,\n                                        0.5307912230491638\n                                    ],\n                                    \"ori\": [\n                                        2.2507038011099212e-08,\n                                        2.2507050445597088e-08,\n                                        -0.7071066498756409,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bottom_cabinet_no_top_ncgmqr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.8681254386901855,\n                                        -4.464008808135986,\n                                        0.2956666052341461\n                                    ],\n                                    \"ori\": [\n                                        2.512147467383986e-15,\n                                        -2.9591314287813475e-08,\n                                        0.7071066498756409,\n                                        0.70710688829422\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                                    1.6453908813218732e-07,\n                                    4.2123927125018583e-19\n                                ],\n                                \"joint_vel\": [\n                                    0.0,\n                                    0.0,\n                                    0.0\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"ceilings_gznlyj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.468292713165283,\n                                        -2.674513816833496,\n                                        2.3836891651153564\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        -7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_laeuzw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.7077958583831787,\n                                        -2.1586220264434814,\n                                        2.4162521362304688\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        -7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_mbrukp_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.461474418640137,\n                                        1.9713948965072632,\n                                        2.394315719604492\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_qhcqdn_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.08801434934139252,\n                                        2.7923336029052734,\n                                        2.2950093746185303\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_srlfnq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.468295097351074,\n                                        1.977994441986084,\n                                        2.3930435180664062\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"desk_aduafr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.267700672149658,\n                                        -0.010029185563325882,\n                                        0.4418487846851349\n                                    ],\n                                    \"ori\": [\n                                        0.004032700788229704,\n                                        -0.0013341812882572412,\n                                        0.7054926753044128,\n                                        0.7087044715881348\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                                    1.0867823703681126e-13,\n                                    1.0872405813112593e-13,\n                                    5.89786575133644e-09\n                                ],\n                                \"joint_vel\": [\n                                    0.0,\n                                    0.0,\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"desk_iotfzl_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.3021124601364136,\n                                        -2.950000286102295,\n                                        0.6246659755706787\n                                    ],\n                                    \"ori\": [\n                                        0.0013271044008433819,\n                                        -0.0005110847414471209,\n                                        -6.436954572563991e-05,\n                                        0.9999989867210388\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"desk_uqcmzf_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.024132251739502,\n                                        -3.992579936981201,\n                                        0.6146024465560913\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"door_pxhbim_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.20764051377773285,\n                                        1.2351009845733643,\n                                        1.1892328262329102\n                                    ],\n                                    \"ori\": [\n                                        -1.601249209670641e-06,\n                                        -1.6615202866887557e-06,\n                                        -0.7071068286895752,\n                                        0.7071067094802856\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                                    -5.721107465017786e-20\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_pxhbim_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.5292775630950928,\n                                        0.6931469440460205,\n                                        1.1892331838607788\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                                    -2.961525961238288e-17\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_pxhbim_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.315669059753418,\n                                        0.6993893384933472,\n                                        1.1892321109771729\n                                    ],\n                                    \"ori\": [\n                                        2.544373046475812e-06,\n                                        4.393572083927211e-08,\n                                        1.0,\n                                        -1.9464638967292558e-07\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                                    -4.738024374254738e-16\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_pxhbim_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.3249032497406006,\n                                        -2.3868300914764404,\n                                        1.1892367601394653\n                                    ],\n                                    \"ori\": [\n                                        2.544373046475812e-06,\n                                        4.393572083927211e-08,\n                                        1.0,\n                                        -1.9464638967292558e-07\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                                    -4.738024374254738e-16\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"downlight_vlplia_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.7261422872543335,\n                                        1.702736258506775,\n                                        2.3463408946990967\n                                    ],\n                                    \"ori\": [\n                                        0.008096667937934399,\n                                        0.001065945951268077,\n                                        0.13052134215831757,\n                                        0.9914118647575378\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_vlplia_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.5056443810462952,\n                                        1.7027353048324585,\n                                        2.346337080001831\n                                    ],\n                                    \"ori\": [\n                                        0.008096667937934399,\n                                        0.001065945951268077,\n                                        0.13052134215831757,\n                                        0.9914118647575378\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_vlplia_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.9353467226028442,\n                                        1.702736258506775,\n                                        2.346334457397461\n                                    ],\n                                    \"ori\": [\n                                        0.008096667937934399,\n                                        0.001065945951268077,\n                                        0.13052134215831757,\n                                        0.9914118647575378\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_vlplia_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.7148566246032715,\n                                        1.7027324438095093,\n                                        2.3463408946990967\n                                    ],\n                                    \"ori\": [\n                                        0.008096667937934399,\n                                        0.001065945951268077,\n                                        0.13052134215831757,\n                                        0.9914118647575378\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"fixed_window_etjpqr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.470505237579346,\n                                        3.373602867126465,\n                                        2.0977401733398438\n                                    ],\n                                    \"ori\": [\n                                        0.2933119535446167,\n                                        -0.29331210255622864,\n                                        0.6434037685394287,\n                                        0.6434032320976257\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"fixed_window_etjpqr_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.4637041091918945,\n                                        -4.019357681274414,\n                                        2.046593427658081\n                                    ],\n                                    \"ori\": [\n                                        -0.2933117747306824,\n                                        -0.2933121621608734,\n                                        -0.6434030532836914,\n                                        0.6434040069580078\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"fixed_window_etjpqr_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.09024500101804733,\n                                        -4.019358158111572,\n                                        2.0465941429138184\n                                    ],\n                                    \"ori\": [\n                                        -0.2933117747306824,\n                                        -0.2933121621608734,\n                                        -0.6434030532836914,\n                                        0.6434040069580078\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"fixed_window_etjpqr_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.466063022613525,\n                                        -4.019358158111572,\n                                        2.046592950820923\n                                    ],\n                                    \"ori\": [\n                                        -0.2933119237422943,\n                                        -0.293312132358551,\n                                        -0.6434032917022705,\n                                        0.6434037685394287\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"fixed_window_etjpqr_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.08578544855117798,\n                                        3.3733654022216797,\n                                        2.099078416824341\n                                    ],\n                                    \"ori\": [\n                                        0.2933119833469391,\n                                        -0.293312132358551,\n                                        0.6434038281440735,\n                                        0.643403172492981\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"fixed_window_etjpqr_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.459245681762695,\n                                        3.3733651638031006,\n                                        2.099078893661499\n                                    ],\n                                    \"ori\": [\n                                        0.2933119535446167,\n                                        -0.29331210255622864,\n                                        0.6434037685394287,\n                                        0.6434032320976257\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_dcxicr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.468292713165283,\n                                        -2.63045334815979,\n                                        -0.15000000596046448\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_nlswvt_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.461475372314453,\n                                        1.926833987236023,\n                                        -0.15000000596046448\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_rfqizg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.9037261009216309,\n                                        -2.049670696258545,\n                                        -0.15000000596046448\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_tfuahz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.08801501989364624,\n                                        2.746849536895752,\n                                        -0.15000000596046448\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_zrhxwn_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.468293190002441,\n                                        1.9268227815628052,\n                                        -0.15000000596046448\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"folderal_ydrlth_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.331003189086914,\n                                        -0.28473713994026184,\n                                        1.1173893213272095\n                                    ],\n                                    \"ori\": [\n                                        -3.785676767620316e-07,\n                                        0.7071076035499573,\n                                        0.7071059346199036,\n                                        4.853386030845286e-07\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"furniture_sink_ojjqku_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.1639554500579834,\n                                        2.223419427871704,\n                                        0.6277831196784973\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    },\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"map_fdtxut_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.354017734527588,\n                                        -0.28473711013793945,\n                                        1.1898915767669678\n                                    ],\n                                    \"ori\": [\n                                        -3.785676767620316e-07,\n                                        0.7071076035499573,\n                                        0.7071059346199036,\n                                        4.853386030845286e-07\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"map_hsbtqi_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.196124076843262,\n                                        -0.2847370207309723,\n                                        1.1182665824890137\n                                    ],\n                                    \"ori\": [\n                                        -0.4940129518508911,\n                                        0.505916178226471,\n                                        0.4940141439437866,\n                                        0.5059150457382202\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"mirror_ovdinr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.3946311473846436,\n                                        2.223405599594116,\n                                        1.4635725021362305\n                                    ],\n                                    \"ori\": [\n                                        -1.4031301986960898e-07,\n                                        0.7071071863174438,\n                                        -0.707106351852417,\n                                        1.3504461549018743e-07\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"painting_eexydp_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.067607879638672,\n                                        -0.49151989817619324,\n                                        1.6653974056243896\n                                    ],\n                                    \"ori\": [\n                                        0.5002639293670654,\n                                        -0.49972909688949585,\n                                        0.5002707242965698,\n                                        -0.4997359812259674\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"painting_jfkvxh_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.206398010253906,\n                                        -0.49389922618865967,\n                                        1.5869276523590088\n                                    ],\n                                    \"ori\": [\n                                        -0.5009388327598572,\n                                        0.4990585446357727,\n                                        0.5009399652481079,\n                                        -0.4990592300891876\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"painting_ljabhq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.2106497287750244,\n                                        -0.2890453040599823,\n                                        1.6509226560592651\n                                    ],\n                                    \"ori\": [\n                                        0.49881505966186523,\n                                        0.5011830925941467,\n                                        0.49881333112716675,\n                                        0.5011829137802124\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"picture_abtgvz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.112757682800293,\n                                        -0.2836590111255646,\n                                        1.2025244235992432\n                                    ],\n                                    \"ori\": [\n                                        0.5000002980232239,\n                                        0.5000003576278687,\n                                        -0.4999997019767761,\n                                        0.4999997019767761\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_aicjaq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.777649998664856,\n                                        1.1359729766845703,\n                                        1.433369517326355\n                                    ],\n                                    \"ori\": [\n                                        0.7067986130714417,\n                                        -6.17903239685802e-08,\n                                        -6.18441688970961e-08,\n                                        0.7074148058891296\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_aqahkx_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.458420991897583,\n                                        2.9817521572113037,\n                                        1.1995538473129272\n                                    ],\n                                    \"ori\": [\n                                        -0.7070955038070679,\n                                        0.00357992947101593,\n                                        0.7070999145507812,\n                                        0.003584190970286727\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_bzmdxc_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.122528076171875,\n                                        -0.28473708033561707,\n                                        1.1182669401168823\n                                    ],\n                                    \"ori\": [\n                                        0.5061323642730713,\n                                        0.49379289150238037,\n                                        -0.5061308145523071,\n                                        0.4937916398048401\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_hyjqxp_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.461057424545288,\n                                        2.234147310256958,\n                                        1.7047309875488281\n                                    ],\n                                    \"ori\": [\n                                        -0.7070679068565369,\n                                        -0.007221968378871679,\n                                        0.7070719599723816,\n                                        -0.007217720150947571\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_jovfqj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.4018101692199707,\n                                        -0.17065607011318207,\n                                        1.5164811611175537\n                                    ],\n                                    \"ori\": [\n                                        0.0003081561590079218,\n                                        0.7071067094802856,\n                                        0.0003080368915107101,\n                                        0.7071068286895752\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_nxjgqw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.186755895614624,\n                                        1.1359707117080688,\n                                        1.433373212814331\n                                    ],\n                                    \"ori\": [\n                                        0.5002177953720093,\n                                        0.4997820556163788,\n                                        -0.4997822940349579,\n                                        0.5002176761627197\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_nxqoed_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.221235752105713,\n                                        -1.2067874670028687,\n                                        1.5327051877975464\n                                    ],\n                                    \"ori\": [\n                                        -0.7071064710617065,\n                                        0.0003078579902648926,\n                                        0.7071070671081543,\n                                        -0.00030785807757638395\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_nzctlq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.4616618156433105,\n                                        3.0299863815307617,\n                                        1.6523619890213013\n                                    ],\n                                    \"ori\": [\n                                        -0.7070979475975037,\n                                        -0.0031020937021821737,\n                                        0.7071020603179932,\n                                        -0.0030978317372500896\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_rypaxo_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.4617724418640137,\n                                        1.8791803121566772,\n                                        1.678014874458313\n                                    ],\n                                    \"ori\": [\n                                        -0.7070979475975037,\n                                        -0.0031020937021821737,\n                                        0.7071020603179932,\n                                        -0.0030978317372500896\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_svpzro_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.126955986022949,\n                                        -0.28473520278930664,\n                                        1.0278877019882202\n                                    ],\n                                    \"ori\": [\n                                        -0.49632009863853455,\n                                        0.5036531686782837,\n                                        0.49632135033607483,\n                                        0.5036516189575195\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_trqgni_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.221235752105713,\n                                        -0.5379241704940796,\n                                        1.5327049493789673\n                                    ],\n                                    \"ori\": [\n                                        -0.7071064710617065,\n                                        0.0003078579902648926,\n                                        0.7071070671081543,\n                                        -0.00030785807757638395\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_ttwhjj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.4601666927337646,\n                                        2.5965662002563477,\n                                        1.1556940078735352\n                                    ],\n                                    \"ori\": [\n                                        -0.7071029543876648,\n                                        -0.0015775860520079732,\n                                        0.7071071267127991,\n                                        -0.0015733240870758891\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_vezfau_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.460252523422241,\n                                        2.1817429065704346,\n                                        1.2114461660385132\n                                    ],\n                                    \"ori\": [\n                                        -0.7070979475975037,\n                                        -0.0031020937021821737,\n                                        0.7071020603179932,\n                                        -0.0030978317372500896\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_xnuynn_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.2264392375946045,\n                                        2.009972333908081,\n                                        1.4702473878860474\n                                    ],\n                                    \"ori\": [\n                                        -0.707106351852417,\n                                        0.0003078579902648926,\n                                        0.7071071863174438,\n                                        -0.0003078581066802144\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_yrkfct_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.461077928543091,\n                                        2.663898468017578,\n                                        1.7252577543258667\n                                    ],\n                                    \"ori\": [\n                                        -0.7070979475975037,\n                                        -0.0031020937021821737,\n                                        0.7071020603179932,\n                                        -0.0030978317372500896\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"railing_pqzbbb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.666592597961426,\n                                        -1.3434768915176392,\n                                        0.39411893486976624\n                                    ],\n                                    \"ori\": [\n                                        4.62862494998717e-08,\n                                        0.7071066498756409,\n                                        -4.62862494998717e-08,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"railing_pqzbbb_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.4759721755981445,\n                                        -1.3965609073638916,\n                                        0.3941192924976349\n                                    ],\n                                    \"ori\": [\n                                        -0.7071067094802856,\n                                        5.338507591545749e-08,\n                                        0.7071068286895752,\n                                        5.33850581518891e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"railing_pqzbbb_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.666592597961426,\n                                        0.5851558446884155,\n                                        0.39411893486976624\n                                    ],\n                                    \"ori\": [\n                                        4.62862494998717e-08,\n                                        0.7071066498756409,\n                                        -4.62862494998717e-08,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"railing_pqzbbb_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.4759721755981445,\n                                        0.7380073666572571,\n                                        0.3941153883934021\n                                    ],\n                                    \"ori\": [\n                                        -0.7071067094802856,\n                                        5.338507591545749e-08,\n                                        0.7071068286895752,\n                                        5.33850581518891e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"railing_pqzbbb_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.4759721755981445,\n                                        -1.4044729471206665,\n                                        0.3941153883934021\n                                    ],\n                                    \"ori\": [\n                                        -0.7071067094802856,\n                                        5.338507591545749e-08,\n                                        0.7071068286895752,\n                                        5.33850581518891e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"room_divider_bydmct_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.4580211639404297,\n                                        -3.8973333835601807,\n                                        0.8730444312095642\n                                    ],\n                                    \"ori\": [\n                                        1.7746572744090296e-18,\n                                        4.0973257772747296e-12,\n                                        1.0,\n                                        4.331257628109597e-07\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"shelf_sapyzl_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.535496711730957,\n                                        2.453587770462036,\n                                        1.468758225440979\n                                    ],\n                                    \"ori\": [\n                                        -7.550742964212986e-08,\n                                        1.0,\n                                        -3.532567461661529e-06,\n                                        -2.698101980058709e-06\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"shelf_sapyzl_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.5344090461730957,\n                                        2.4535882472991943,\n                                        0.9452612996101379\n                                    ],\n                                    \"ori\": [\n                                        1.9469766243673803e-07,\n                                        1.0,\n                                        -3.532566552166827e-06,\n                                        -2.6981026621797355e-06\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"shower_giialz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.7971031665802002,\n                                        3.4692893028259277,\n                                        0.030847474932670593\n                                    ],\n                                    \"ori\": [\n                                        1.904920395645604e-06,\n                                        -9.530667171020468e-07,\n                                        -0.7071068286895752,\n                                        0.7071067094802856\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"showerhead_afoeoa_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.201631546020508,\n                                        3.4443395137786865,\n                                        0.8904219269752502\n                                    ],\n                                    \"ori\": [\n                                        0.008922404609620571,\n                                        0.0006342653650790453,\n                                        0.9999201893806458,\n                                        -0.008922123350203037\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"showerhead_svuhzb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.1233086585998535,\n                                        3.2550814151763916,\n                                        1.3249099254608154\n                                    ],\n                                    \"ori\": [\n                                        -0.004310344811528921,\n                                        0.0056433407589793205,\n                                        0.99997478723526,\n                                        2.6904222977464087e-05\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"sofa_ukfaaz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.06688928604126,\n                                        -3.823601722717285,\n                                        0.2513422667980194\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"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                            \"toilet_udiezm_0\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.47466039657592773,\n                                        3.8419888019561768,\n                                        0.33443349599838257\n                                    ],\n                                    \"ori\": [\n                                        5.587935003603661e-09,\n                                        -1.382435416141803e-10,\n                                        -0.7071069478988647,\n                                        0.7071065902709961\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                                    -5.861739587643966e-13\n                                ],\n                                \"joint_vel\": [\n                                    2.761346490007255e-12\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"towel_rack_qedffr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.7141887545585632,\n                                        1.4411866664886475,\n                                        1.3130701780319214\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.7071066498756409,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"wall_mounted_light_etqbld_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.3275396823883057,\n                                        2.918764591217041,\n                                        1.509912371635437\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"wall_mounted_light_etqbld_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.3275396823883057,\n                                        1.5165278911590576,\n                                        1.509912371635437\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"wall_mounted_tv_sodbbr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.672131299972534,\n                                        2.736130714416504,\n                                        1.359227180480957\n                                    ],\n                                    \"ori\": [\n                                        4.371138118131057e-08,\n                                        -4.3711395392165286e-08,\n                                        1.0,\n                                        1.9470718370939721e-07\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"wall_socket_plssag_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.636751174926758,\n                                        1.3433526754379272,\n                                        0.16072995960712433\n                                    ],\n                                    \"ori\": [\n                                        1.9670444828534528e-08,\n                                        -0.7071066498756409,\n                                        1.9670364892476755e-08,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"wall_socket_plssag_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.465231895446777,\n                                        -2.451951742172241,\n                                        0.18528853356838226\n                                    ],\n                                    \"ori\": [\n                                        1.9670444828534528e-08,\n                                        -0.7071066498756409,\n                                        1.9670364892476755e-08,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_boflea_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.09483455866575241,\n                                        4.172773361206055,\n                                        0.6908961534500122\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_eguptx_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.530637741088867,\n                                        2.4848246574401855,\n                                        1.1410846710205078\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_hddwcd_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.342838764190674,\n                                        2.5853328704833984,\n                                        1.139294981956482\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_jpdrrk_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.5213983058929443,\n                                        1.9687899351119995,\n                                        1.2245458364486694\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_ldoefg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.34096622467041,\n                                        -3.198519229888916,\n                                        1.131188154220581\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_lempwq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.3455681800842285,\n                                        -0.39413031935691833,\n                                        1.2223286628723145\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_oglchp_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.531142711639404,\n                                        -0.3776160180568695,\n                                        1.2223286628723145\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_rscyjh_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.530633449554443,\n                                        -3.1719491481781006,\n                                        1.1329281330108643\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_slooel_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.09483300894498825,\n                                        -4.791778087615967,\n                                        0.690896213054657\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_vastci_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.3453190326690674,\n                                        -0.23936332762241364,\n                                        1.2232003211975098\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_wjblrc_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.465503692626953,\n                                        -0.38980633020401,\n                                        1.2223286628723145\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_ynhwyn_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.07444615662097931,\n                                        1.2459226846694946,\n                                        1.2771285772323608\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_zlekao_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.34283971786499,\n                                        -0.3296562433242798,\n                                        1.2223284244537354\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"mousetrap_47\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.1560733318328857,\n                                        2.2875380516052246,\n                                        0.8861351609230042\n                                    ],\n                                    \"ori\": [\n                                        -5.707881882699439e-07,\n                                        7.504566747229546e-05,\n                                        0.3034686744213104,\n                                        0.9528414607048035\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"mousetrap_48\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.8828887939453125,\n                                        1.7635189294815063,\n                                        0.8861985802650452\n                                    ],\n                                    \"ori\": [\n                                        -6.770692561985925e-05,\n                                        3.144698712276295e-05,\n                                        -0.7306309938430786,\n                                        0.6827725768089294\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"mousetrap_49\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.171238660812378,\n                                        1.895473837852478,\n                                        0.8861513733863831\n                                    ],\n                                    \"ori\": [\n                                        6.441817822633311e-05,\n                                        3.778093014261685e-05,\n                                        0.9764238595962524,\n                                        0.2158622443675995\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"mousetrap_50\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.0749459266662598,\n                                        1.6500555276870728,\n                                        0.8861764669418335\n                                    ],\n                                    \"ori\": [\n                                        -3.604445737437345e-05,\n                                        6.6022141254507e-05,\n                                        -0.17575165629386902,\n                                        0.9844345450401306\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"robot_r1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.243072509765625,\n                                        2.041015625,\n                                        0.003753662109375\n                                    ],\n                                    \"ori\": [\n                                        -0.0038814980071038008,\n                                        0.003236955963075161,\n                                        0.6089481711387634,\n                                        0.7931939363479614\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                                    0.0001679412816883996,\n                                    0.0001333730760961771,\n                                    0.0012396910460665822,\n                                    0.0007054210873320699,\n                                    -0.00884549506008625,\n                                    -0.0008390774019062519,\n                                    1.025026798248291,\n                                    -1.4499412775039673,\n                                    -0.4699747562408447,\n                                    -2.4162263798643835e-06,\n                                    -4.849006290896796e-05,\n                                    -3.606649988796562e-05,\n                                    1.6459465257412376e-07,\n                                    1.4381932089690963e-07,\n                                    6.717923042742768e-06,\n                                    1.9532775695552118e-05,\n                                    -1.5018588328530313e-06,\n                                    -1.624174547032453e-05,\n                                    -1.3616725027532084e-06,\n                                    1.2455317119020037e-05,\n                                    -5.0655080485739745e-06,\n                                    6.799490392950247e-08,\n                                    3.994784947281005e-07,\n                                    2.6027004196294e-07,\n                                    0.04999986290931702,\n                                    0.04999999329447746,\n                                    0.04999988526105881,\n                                    0.04999997094273567\n                                ],\n                                \"joint_vel\": [\n                                    -0.017845649272203445,\n                                    0.002601217245683074,\n                                    -0.00576529186218977,\n                                    0.003459020983427763,\n                                    -0.03633609414100647,\n                                    -0.006500404328107834,\n                                    -0.15915969014167786,\n                                    -0.28602778911590576,\n                                    -0.1821247786283493,\n                                    0.002364371670410037,\n                                    0.053066547960042953,\n                                    0.03603505715727806,\n                                    7.094665488693863e-05,\n                                    0.00014260153693612665,\n                                    0.007105514407157898,\n                                    0.005625290796160698,\n                                    -0.01566961035132408,\n                                    0.013350402005016804,\n                                    -0.004724782891571522,\n                                    -0.014043912291526794,\n                                    0.010433685034513474,\n                                    -0.0010027219541370869,\n                                    -0.006709852255880833,\n                                    -0.006917067337781191,\n                                    0.00023624963068868965,\n                                    -0.00017301215848419815,\n                                    0.0002694274880923331,\n                                    -0.00017266372742597014\n                                ],\n                                \"controllers\": {\n                                    \"base\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.0,\n                                                0.0,\n                                                0.0\n                                            ]\n                                        }\n                                    },\n                                    \"trunk\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                1.024999976158142,\n                                                -1.4500000476837158,\n                                                -0.4699999988079071,\n                                                0.0\n                                            ]\n                                        }\n                                    },\n                                    \"arm_left\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0\n                                            ]\n                                        }\n                                    },\n                                    \"gripper_left\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.05000000074505806\n                                            ]\n                                        },\n                                        \"vel_filter\": {\n                                            \"past_samples\": [\n                                                [\n                                                    3.576278459149762e-06,\n                                                    2.6822087875189027e-06\n                                                ],\n                                                [\n                                                    4.099916259292513e-05,\n                                                    -1.8866758182412013e-06\n                                                ],\n                                                [\n                                                    2.1090536392875947e-05,\n                                                    -1.5866498870309442e-05\n                                                ],\n                                                [\n                                                    1.3411043937594513e-06,\n                                                    8.940696147874405e-07\n                                                ],\n                                                [\n                                                    -8.940695806813892e-06,\n                                                    -2.6822087875189027e-06\n                                                ]\n                                            ],\n                                            \"current_idx\": 0,\n                                            \"fully_filled\": true\n                                        }\n                                    },\n                                    \"arm_right\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0\n                                            ]\n                                        }\n                                    },\n                                    \"gripper_right\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.05000000074505806\n                                            ]\n                                        },\n                                        \"vel_filter\": {\n                                            \"past_samples\": [\n                                                [\n                                                    -1.788139229574881e-06,\n                                                    4.4703480739372026e-07\n                                                ],\n                                                [\n                                                    6.618852057727054e-05,\n                                                    -3.711786848725751e-05\n                                                ],\n                                                [\n                                                    2.5401719540241174e-05,\n                                                    -5.184856490814127e-07\n                                                ],\n                                                [\n                                                    0.0,\n                                                    -2.235173951703473e-06\n                                                ],\n                                                [\n                                                    -4.023313522338867e-06,\n                                                    5.364417575037805e-06\n                                                ]\n                                            ],\n                                            \"current_idx\": 0,\n                                            \"fully_filled\": true\n                                        }\n                                    }\n                                },\n                                \"non_kin\": {},\n                                \"ag_obj_constraint_params\": {\n                                    \"left\": {},\n                                    \"right\": {}\n                                }\n                            }\n                        }\n                    }\n                }\n            },\n            \"trav_map_resolution\": 0.1,\n            \"default_erosion_radius\": 0.0,\n            \"trav_map_with_objects\": true,\n            \"num_waypoints\": 10,\n            \"waypoint_resolution\": 0.2,\n            \"load_room_types\": null,\n            \"load_room_instances\": [\n                \"bathroom_0\",\n                \"bathroom_1\"\n            ],\n            \"include_robots\": false\n        }\n    },\n    \"objects_info\": {\n        \"init_info\": {\n            \"bottom_cabinet_jhymlr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_jhymlr_0\",\n                    \"category\": \"bottom_cabinet\",\n                    \"model\": \"jhymlr\",\n                    \"scale\": [\n                        1.6128703355789185,\n                        1.7241984605789185,\n                        2.0688953399658203\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"5768fc81dcf894b09d1da7973f938812\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"electric_switch_strbnw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"electric_switch_strbnw_0\",\n                    \"category\": \"electric_switch\",\n                    \"model\": \"strbnw\",\n                    \"scale\": [\n                        1.0014913082122803,\n                        0.9996373653411865,\n                        0.9999880194664001\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"cd26cdf4218828dd96594770b29c0c7d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"hook_akwlam_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hook_akwlam_0\",\n                    \"category\": \"hook\",\n                    \"model\": \"akwlam\",\n                    \"scale\": [\n                        0.9989968538284302,\n                        0.999685525894165,\n                        0.9994485974311829\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"70964dcc6fb99eeb3b2174e2df0c44f9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"serving_cart_vvtcby_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"serving_cart_vvtcby_0\",\n                    \"category\": \"serving_cart\",\n                    \"model\": \"vvtcby\",\n                    \"scale\": [\n                        1.0001310110092163,\n                        0.9999819993972778,\n                        1.0000241994857788\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"19e8a8e5214fe05dc14252404addc7a1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_dlncrt_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_dlncrt_0\",\n                    \"category\": \"door\",\n                    \"model\": \"dlncrt\",\n                    \"scale\": [\n                        1.0001740455627441,\n                        1.0000379085540771,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"398896fe689aa058c8a21309dfb1dc7b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_pevmgl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_pevmgl_0\",\n                    \"category\": \"door\",\n                    \"model\": \"pevmgl\",\n                    \"scale\": [\n                        1.0003702640533447,\n                        1.0000139474868774,\n                        0.999976634979248\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"1fc36a86ee715dc424ac9643b6d94b89\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"background_gkemae_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"background_gkemae_0\",\n                    \"category\": \"background\",\n                    \"model\": \"gkemae\",\n                    \"scale\": [\n                        1.0000039339065552,\n                        0.9999995827674866,\n                        1.0000026226043701\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2bc4a006daca9351ac898d0761041c38\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bathtub_rufepf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bathtub_rufepf_0\",\n                    \"category\": \"bathtub\",\n                    \"model\": \"rufepf\",\n                    \"scale\": [\n                        1.0000211000442505,\n                        0.9999750256538391,\n                        0.9999595284461975\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"69c884f53299f74e1a2aabc35bdda902\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_gznlyj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_gznlyj_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"gznlyj\",\n                    \"scale\": [\n                        1.000010371208191,\n                        0.9999898672103882,\n                        1.0000264644622803\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"df2ed67ddeef16eea72e763e5d91c9c1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_laeuzw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_laeuzw_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"laeuzw\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        1.000000238418579,\n                        1.0000264644622803\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"1435d0a340affd2745ef24a87dfadf95\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_mbrukp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_mbrukp_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"mbrukp\",\n                    \"scale\": [\n                        1.0000112056732178,\n                        0.9999985694885254,\n                        1.0000264644622803\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"563440674cd06777a07cf0a657a79f85\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_qhcqdn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_qhcqdn_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"qhcqdn\",\n                    \"scale\": [\n                        1.000006914138794,\n                        1.000015377998352,\n                        1.0000264644622803\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"4378e4d502ab2b44d2d995aba6ecf8ba\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_srlfnq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_srlfnq_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"srlfnq\",\n                    \"scale\": [\n                        1.0000112056732178,\n                        0.9999985694885254,\n                        1.0000264644622803\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"e7de031908731c0380b93cd9536d4531\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_pxhbim_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_pxhbim_0\",\n                    \"category\": \"door\",\n                    \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bathroom_1\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"1d7fc5655908f24a2ddaa64e7708d0f8\"\n                }\n            },\n            \"door_pxhbim_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_pxhbim_1\",\n                    \"category\": \"door\",\n                    \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"1d7fc5655908f24a2ddaa64e7708d0f8\"\n                }\n            },\n            \"door_pxhbim_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_pxhbim_2\",\n                    \"category\": \"door\",\n                    \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_1\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"1d7fc5655908f24a2ddaa64e7708d0f8\"\n                }\n            },\n            \"door_pxhbim_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_pxhbim_3\",\n                    \"category\": \"door\",\n                    \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_2\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"1d7fc5655908f24a2ddaa64e7708d0f8\"\n                }\n            },\n            \"downlight_vlplia_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_vlplia_0\",\n                    \"category\": \"downlight\",\n                    \"model\": \"vlplia\",\n                    \"scale\": [\n                        1.0002226829528809,\n                        1.0000925064086914,\n                        1.0001240968704224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_vlplia_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_vlplia_1\",\n                    \"category\": \"downlight\",\n                    \"model\": \"vlplia\",\n                    \"scale\": [\n                        1.0002226829528809,\n                        1.0000925064086914,\n                        1.0001240968704224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_vlplia_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_vlplia_2\",\n                    \"category\": \"downlight\",\n                    \"model\": \"vlplia\",\n                    \"scale\": [\n                        1.0002226829528809,\n                        1.0000925064086914,\n                        1.0001240968704224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_vlplia_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_vlplia_3\",\n                    \"category\": \"downlight\",\n                    \"model\": \"vlplia\",\n                    \"scale\": [\n                        1.0002226829528809,\n                        1.0000925064086914,\n                        1.0001240968704224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"90de00b721a593fe6029bc56acf542e1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fixed_window_etjpqr_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fixed_window_etjpqr_4\",\n                    \"category\": \"fixed_window\",\n                    \"model\": \"etjpqr\",\n                    \"scale\": [\n                        0.9994935393333435,\n                        1.0000231266021729,\n                        0.9999651908874512\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"d5921c643dcc0a93992005a7b3bdc4d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_dcxicr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_dcxicr_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"dcxicr\",\n                    \"scale\": [\n                        1.0000115633010864,\n                        0.9999899864196777,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"68582a67341214ead724c4e891bd6920\"\n                }\n            },\n            \"floors_nlswvt_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_nlswvt_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"nlswvt\",\n                    \"scale\": [\n                        1.0000108480453491,\n                        1.0000033378601074,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e6dc72fcf6554b4e0019dbf430af7932\"\n                }\n            },\n            \"floors_rfqizg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_rfqizg_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"rfqizg\",\n                    \"scale\": [\n                        0.9999974966049194,\n                        1.0000001192092896,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e7fa2d47e6bf6ec1de332da10adffe77\"\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"4de9acb9f9f9c143725d95862649d0dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_zrhxwn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_zrhxwn_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"zrhxwn\",\n                    \"scale\": [\n                        1.0000113248825073,\n                        0.9999984502792358,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"5c5ac94a18bb9241332a3b4808e90934\"\n                }\n            },\n            \"furniture_sink_ojjqku_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"furniture_sink_ojjqku_0\",\n                    \"category\": \"furniture_sink\",\n                    \"model\": \"ojjqku\",\n                    \"scale\": [\n                        1.0,\n                        1.0000003576278687,\n                        0.9999823570251465\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"82dc0a7a598004d55e2aec9c50f80570\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"mirror_ovdinr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mirror_ovdinr_0\",\n                    \"category\": \"mirror\",\n                    \"model\": \"ovdinr\",\n                    \"scale\": [\n                        0.9987460374832153,\n                        1.0000121593475342,\n                        1.0000134706497192\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"67a77083280f1faa491263ccc1c01a1b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_xnuynn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_xnuynn_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"xnuynn\",\n                    \"scale\": [\n                        1.0000395774841309,\n                        1.0000495910644531,\n                        0.9983996152877808\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6e01399d75ae2c6f23057e40025741bf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shower_giialz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shower_giialz_0\",\n                    \"category\": \"shower\",\n                    \"model\": \"giialz\",\n                    \"scale\": [\n                        1.0000324249267578,\n                        0.9999755620956421,\n                        1.0006901025772095\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"cf630a00a84967aab7bb068344439759\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"showerhead_afoeoa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"showerhead_afoeoa_0\",\n                    \"category\": \"showerhead\",\n                    \"model\": \"afoeoa\",\n                    \"scale\": [\n                        0.999765932559967,\n                        0.9998961687088013,\n                        1.000025987625122\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"b3480047d2d31897fbbf0cefc1a98c85\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"showerhead_svuhzb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"showerhead_svuhzb_0\",\n                    \"category\": \"showerhead\",\n                    \"model\": \"svuhzb\",\n                    \"scale\": [\n                        1.000108003616333,\n                        1.0001031160354614,\n                        1.0000262260437012\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"727c61154828795a818eca71499da6c2\",\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_0\"\n                    ],\n                    \"expected_file_hash\": \"fbdda5783bee01746d910c803848818c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"towel_rack_qedffr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"towel_rack_qedffr_0\",\n                    \"category\": \"towel_rack\",\n                    \"model\": \"qedffr\",\n                    \"scale\": [\n                        1.0001524686813354,\n                        1.0000016689300537,\n                        1.0000251531600952\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"ef1df2a98e95c50b3881f1a7e0a30ba9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_etqbld_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_etqbld_0\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"etqbld\",\n                    \"scale\": [\n                        0.9998313784599304,\n                        1.000183343887329,\n                        1.0000163316726685\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"b3d1fa09d42d3772b84e89066d857d16\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_etqbld_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_etqbld_1\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"etqbld\",\n                    \"scale\": [\n                        0.9998313784599304,\n                        1.000183343887329,\n                        1.0000163316726685\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"b3d1fa09d42d3772b84e89066d857d16\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_boflea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_boflea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"boflea\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9999855160713196,\n                        1.0000048875808716\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e63c71f569287aec8457267e8d593189\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_eguptx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"18f1efa2229070e2c4e00576cff3808e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cdef188b4094c5806eee3577d7722fed\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"32e167547393ebdf51cdeb48e4bddbd7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ldoefg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ldoefg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ldoefg\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        1.0000122785568237,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b0ff26d26a0e7be3149adf0c34fe51e1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3dacdc7222e11faf813308adb492f321\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0da8b8cc95f0be8d331ea6c4d03755d4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9567d28d0aa8832f19d34163b2c7e4dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"07b7f38bce91492398cb23f822e1125b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7c7e24a26487ee49b3fcd7f2195d6018\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"07f7ce729de8896f7464dc89e875cd56\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2dd4218d6107361b9fe45b0817d5cd75\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"41226ca99e25e4a93f36ea917b7aa998\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"mousetrap_47\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mousetrap_47\",\n                    \"category\": \"mousetrap\",\n                    \"model\": \"mwfwsv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\n                }\n            },\n            \"mousetrap_48\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mousetrap_48\",\n                    \"category\": \"mousetrap\",\n                    \"model\": \"mwfwsv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\n                }\n            },\n            \"mousetrap_49\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mousetrap_49\",\n                    \"category\": \"mousetrap\",\n                    \"model\": \"mwfwsv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\n                }\n            },\n            \"mousetrap_50\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mousetrap_50\",\n                    \"category\": \"mousetrap\",\n                    \"model\": \"mwfwsv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\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": 8103,
+    "num_samples": 8103,
+    "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",
+        "mousetrap.n.01_1_real",
+        "mousetrap.n.01_1_pos",
+        "mousetrap.n.01_1_ori_cos",
+        "mousetrap.n.01_1_ori_sin",
+        "mousetrap.n.01_1_in_gripper_left",
+        "mousetrap.n.01_1_in_gripper_right",
+        "mousetrap.n.01_2_real",
+        "mousetrap.n.01_2_pos",
+        "mousetrap.n.01_2_ori_cos",
+        "mousetrap.n.01_2_ori_sin",
+        "mousetrap.n.01_2_in_gripper_left",
+        "mousetrap.n.01_2_in_gripper_right",
+        "mousetrap.n.01_3_real",
+        "mousetrap.n.01_3_pos",
+        "mousetrap.n.01_3_ori_cos",
+        "mousetrap.n.01_3_ori_sin",
+        "mousetrap.n.01_3_in_gripper_left",
+        "mousetrap.n.01_3_in_gripper_right",
+        "mousetrap.n.01_4_real",
+        "mousetrap.n.01_4_pos",
+        "mousetrap.n.01_4_ori_cos",
+        "mousetrap.n.01_4_ori_sin",
+        "mousetrap.n.01_4_in_gripper_left",
+        "mousetrap.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",
+        "sink.n.01_1_real",
+        "sink.n.01_1_pos",
+        "sink.n.01_1_ori_cos",
+        "sink.n.01_1_ori_sin",
+        "sink.n.01_1_in_gripper_left",
+        "sink.n.01_1_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"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/mousetrap_50/base_link/visuals\", \"3\": \"/World/scene_0/mousetrap_49/base_link/visuals\", \"4\": \"/World/scene_0/mousetrap_48/base_link/visuals\", \"5\": \"/World/scene_0/mousetrap_47/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"9\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"10\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"11\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"12\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"13\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"14\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"15\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"16\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"17\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"18\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"19\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"20\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"21\": \"/World/scene_0/downlight_vlplia_3/base_link/visuals\", \"22\": \"/World/scene_0/furniture_sink_ojjqku_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"23\": \"/World/scene_0/furniture_sink_ojjqku_0/base_link/visuals\", \"24\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"26\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"27\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"28\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"29\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"30\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"31\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"32\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"33\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"34\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"35\": \"/World/scene_0/electric_switch_strbnw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"36\": \"/World/scene_0/electric_switch_strbnw_0/base_link/visuals\", \"37\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"38\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"39\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"40\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"41\": \"/World/scene_0/shower_giialz_0/base_link/visuals\", \"42\": \"/World/scene_0/wall_mounted_light_etqbld_1/base_link/visuals\", \"43\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"44\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"49\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"50\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"51\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"52\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"53\": \"/World/scene_0/fixed_window_etjpqr_4/glass/visuals\", \"54\": \"/World/scene_0/fixed_window_etjpqr_4/base_link/visuals\", \"55\": \"/World/scene_0/mirror_ovdinr_0/base_link/visuals\", \"56\": \"/World/scene_0/towel_rack_qedffr_0/base_link/visuals\", \"57\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"58\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"60\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"61\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"62\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"63\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"64\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"65\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"66\": \"/World/scene_0/picture_xnuynn_0/base_link/visuals\", \"67\": \"/World/scene_0/hook_akwlam_0/base_link/visuals\", \"68\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"69\": \"/World/scene_0/downlight_vlplia_1/base_link/visuals\", \"70\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"71\": \"/World/scene_0/toilet_udiezm_0/flap/visuals\", \"72\": \"/World/scene_0/toilet_udiezm_0/base_link/visuals\", \"73\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"74\": \"/World/scene_0/serving_cart_vvtcby_0/base_link/visuals\", \"75\": \"/World/scene_0/bathtub_rufepf_0/base_link/visuals\", \"76\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"77\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"78\": \"/World/scene_0/downlight_vlplia_2/base_link/visuals\", \"79\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"80\": \"/World/scene_0/showerhead_svuhzb_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"81\": \"/World/scene_0/showerhead_svuhzb_0/base_link/visuals\", \"82\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"83\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"84\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"88\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"89\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"90\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"91\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"92\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"93\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"94\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"95\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"96\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"97\": \"/World/scene_0/bottom_cabinet_jhymlr_0/link_5/visuals\", \"98\": \"/World/scene_0/bottom_cabinet_jhymlr_0/link_4/visuals\", \"99\": \"/World/scene_0/bottom_cabinet_jhymlr_0/link_3/visuals\", \"100\": \"/World/scene_0/bottom_cabinet_jhymlr_0/link_2/visuals\", \"101\": \"/World/scene_0/bottom_cabinet_jhymlr_0/link_1/visuals\", \"102\": \"/World/scene_0/bottom_cabinet_jhymlr_0/link_0/visuals\", \"103\": \"/World/scene_0/bottom_cabinet_jhymlr_0/base_link/visuals\", \"104\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"105\": \"/World/scene_0/downlight_vlplia_0/base_link/visuals\", \"106\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"107\": \"/World/scene_0/showerhead_afoeoa_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"108\": \"/World/scene_0/showerhead_afoeoa_0/base_link/visuals\", \"109\": \"/World/scene_0/wall_mounted_light_etqbld_0/base_link/visuals\", \"110\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"111\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
+        2,
+        3,
+        4,
+        5,
+        7,
+        23,
+        24,
+        26,
+        27,
+        28,
+        30,
+        41,
+        46,
+        49,
+        60,
+        61,
+        66,
+        72,
+        74,
+        75,
+        79,
+        84,
+        85,
+        86,
+        96,
+        97,
+        98,
+        99,
+        100,
+        101,
+        102,
+        103,
+        110
+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
+        2,
+        3,
+        4,
+        5,
+        7,
+        12,
+        13,
+        23,
+        24,
+        26,
+        27,
+        28,
+        30,
+        41,
+        49,
+        50,
+        60,
+        66,
+        72,
+        74,
+        75,
+        76,
+        77,
+        79,
+        84,
+        85,
+        86,
+        97,
+        98,
+        99,
+        100,
+        101,
+        102,
+        103,
+        106,
+        110
+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
+        0,
+        1,
+        2,
+        3,
+        4,
+        5,
+        7,
+        11,
+        12,
+        13,
+        14,
+        15,
+        16,
+        17,
+        18,
+        22,
+        23,
+        24,
+        26,
+        27,
+        30,
+        31,
+        32,
+        33,
+        34,
+        35,
+        36,
+        41,
+        42,
+        45,
+        46,
+        47,
+        49,
+        50,
+        53,
+        54,
+        55,
+        56,
+        60,
+        61,
+        66,
+        67,
+        69,
+        71,
+        72,
+        74,
+        75,
+        76,
+        77,
+        79,
+        80,
+        81,
+        84,
+        85,
+        86,
+        88,
+        94,
+        95,
+        96,
+        97,
+        98,
+        99,
+        100,
+        101,
+        102,
+        103,
+        104,
+        105,
+        106,
+        107,
+        108,
+        109,
+        110
+    ]
+}
\ No newline at end of file