diff --git "a/meta/episodes/task-0034/episode_00340970.json" "b/meta/episodes/task-0034/episode_00340970.json"
new file mode 100644--- /dev/null
+++ "b/meta/episodes/task-0034/episode_00340970.json"
@@ -0,0 +1,132 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_lower_task_hanging_pictures_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"countertop.n.01_1\": \"bar_egwapq_0\", \"floor.n.01_1\": \"floors_zqjkvm_0\", \"poster.n.01_1\": \"poster_73\", \"wall_nail.n.01_1\": \"wall_nail_wlnail_1\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": 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2.546888589859009\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_isizwh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.255151748657227,\n                            5.478974342346191,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_kbxtoc_0\": {\n                    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        0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_vkfllw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.954075336456299,\n                            -0.1620907038450241,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_hgonwj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.910258173942566,\n                            7.547131061553955,\n                            1.4864343404769897\n                        ],\n                        \"ori\": [\n                            -0.5,\n                            0.5,\n                            0.5000000596046448,\n                            -0.4999999403953552\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_rypeha_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.3227729797363281,\n                            0.21013908088207245,\n                            1.535016655921936\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    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      1.1881227493286133\n                        ],\n                        \"ori\": [\n                            6.518067721117404e-07,\n                            3.084870695602149e-05,\n                            0.7104471325874329,\n                            -0.7037506103515625\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_bexenl_1\": {\n                    \"is_asleep\": 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1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"\n                            }\n                        },\n                        \"bush_lfyqkj_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                         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\"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\"\n                            }\n                        },\n                        \"tree_rrhqpw_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_rrhqpw_4\",\n                                \"category\": \"tree\",\n                                \"model\": \"rrhqpw\",\n                                \"scale\": [\n                                    0.6139122843742371,\n                                    0.613919198513031,\n                                    0.6139238476753235\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n      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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\"\n                            }\n                        },\n                        \"tree_wtyipq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_0\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5868d78ff6cb31ec3d9e08f27765c95c\"\n                            }\n                        },\n                        \"tree_wtyipq_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_1\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                          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                        0.9999756217002869\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"647e7dbd099d323784d0490abfae4eac\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"breakfast_table_xftrki_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"breakfast_table_xftrki_0\",\n                                \"category\": \"breakfast_table\",\n                                \"model\": \"xftrki\",\n         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0.999955415725708\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ec121342bf420f1a13524bde771dda15\"\n                            }\n                        },\n                        \"standing_mirror_wwkuuf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"standing_mirror_wwkuuf_0\",\n                                \"category\": \"standing_mirror\",\n                                \"model\": \"wwkuuf\",\n                                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1.0000406503677368\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"fa31d04ec2beb2ccd5b8f4813360d422\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bottom_cabinet_rhdbzv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_rhdbzv_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"rhdbzv\",\n                                \"scale\": [\n                                    0.9999125599861145,\n                                    0.9999962449073792,\n                                    0.9999184012413025\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"car_ssxsje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"car_ssxsje_0\",\n                 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                               \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"expected_file_hash\": \"d94c0f06b0244d1f69d59096d0a0ead6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_kbxtoc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_kbxtoc_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"kbxtoc\",\n                                \"scale\": [\n                                    0.9999968409538269,\n                                    1.0000067949295044,\n                                    0.9999062418937683\n            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1.0000014305114746,\n                                    0.9999884366989136,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"46c82d22b374f34f5b527f708c1c355b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_vkfllw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_vkfllw_0\",\n                                \"category\": 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                    \"args\": {\n                                \"name\": \"decorative_sign_hgonwj_0\",\n                                \"category\": \"decorative_sign\",\n                                \"model\": \"hgonwj\",\n                                \"scale\": [\n                                    0.9999993443489075,\n                                    1.0000003576278687,\n                                    0.9999220967292786\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"97e453ea122521909d3b30c306a76c63\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        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\"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"50b17dd7bf51dded04a7fef7a5383914\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_bexenl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_bexenl_0\",\n                                \"category\": \"door\",\n                                \"model\": \"bexenl\",\n                                \"scale\": [\n                                    0.9997830986976624,\n                                    1.0000373125076294,\n                                    0.9999975562095642\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\",\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"7865c16b2356a17e2c56ddca2d9de7dc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_bexenl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_bexenl_1\",\n                                \"category\": \"door\",\n                                \"model\": \"bexenl\",\n                                \"scale\": [\n                                    0.9984117150306702,\n                                    1.0000373125076294,\n                                    0.9999975562095642\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"bathroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7865c16b2356a17e2c56ddca2d9de7dc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_vudhlc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_0\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_vudhlc_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_1\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                                \"bddl_object_scope\": null\n                 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],\n                                \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_vudhlc_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_3\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_10\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_10\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_11\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_12\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_13\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_13\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                     \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_15\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_15\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_16\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_16\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_17\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_17\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_2\": {\n                            \"class_module\": 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              }\n                        },\n                        \"downlight_pawfmw_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                       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1.0003902912139893\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\": \"93d84847ab01a9461440afd56a841139\"\n                            }\n                        },\n                        \"driveway_umalys_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"driveway_umalys_0\",\n                                \"category\": \"driveway\",\n                                \"model\": \"umalys\",\n                                \"scale\": [\n           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\"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_2\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                    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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ddbf55a2d90dc4af5027f92c55b42f7d\"\n                            }\n                        },\n                        \"floors_nbxnpk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nbxnpk_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nbxnpk\",\n                                \"scale\": [\n                                    0.9999986290931702,\n                                    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                        \"category\": \"floors\",\n                                \"model\": \"qadhjb\",\n                                \"scale\": [\n                                    1.0000005960464478,\n                                    1.0000057220458984,\n                                    1.0000001192092896\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"aabcb26a60eef7d3f76c54a75ee11d3b\"\n                            }\n                        },\n                        \"floors_sdejoi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"59ccade0e971ccb4d674f4d3e4eef6f0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_zqjkvm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zqjkvm_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zqjkvm\",\n                                \"scale\": [\n                                    1.0000038146972656,\n                                    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],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_7\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n           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1.0000219345092773,\n                                    1.0000149011611938\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"bb9e8ae548dea044f81606680c1ddd4a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"track_light_ltnnrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"track_light_ltnnrc_0\",\n                                \"category\": \"track_light\",\n                                \"model\": 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   \"name\": \"track_light_ltnnrc_1\",\n                                \"category\": \"track_light\",\n                                \"model\": \"ltnnrc\",\n                                \"scale\": [\n                                    1.0000474452972412,\n                                    0.9999818801879883,\n                                    1.0001263618469238\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_mbhxbg_0\": {\n                            \"class_module\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"4330b7cb7432ce234b36152b824a146f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_abtbfo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_abtbfo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"abtbfo\",\n                                \"scale\": [\n                                    0.999961793422699,\n                                    1.0000077486038208,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"5b4896a60c91fe6a70dfaf6d3dcdc497\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_bjekee_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bjekee_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bjekee\",\n                                \"scale\": [\n                                    0.9999438524246216,\n                                    1.0000054836273193,\n                                    1.000013828277588\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"8cf95618eba09e45afe87c1d59d4a841\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_buhmrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_buhmrc_0\",\n                                \"category\": \"walls\",\n      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              \"category\": \"walls\",\n                                \"model\": \"chmqjn\",\n                                \"scale\": [\n                                    1.0000461339950562,\n                                    0.999961793422699,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"332ac54222e17e0377a4004614cf7790\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cvdpaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cvdpaq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cvdpaq\",\n                                \"scale\": [\n                                    0.9999979734420776,\n                                    0.9999068975448608,\n                                    1.000015377998352\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"61d61f77095a80ff9b5f03c2669df801\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cxsmhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cxsmhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cxsmhr\",\n                                \"scale\": [\n                                    1.000010371208191,\n                                    0.9997971057891846,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1b5be077939eeb28fb416785efe26f03\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_dewyls_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                           \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_epketb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"epketb\",\n                                \"scale\": [\n                                    0.9999929666519165,\n                                    0.9999200701713562,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d8e9b89b73cd854af80a55322a431a0d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n  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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"042e510fad798211dad67f4921944b91\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jnbgxj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jnbgxj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jnbgxj\",\n                                \"scale\": [\n                                    0.9999818205833435,\n                                    1.000158429145813,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                             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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"261879bc3e684bf2dbd77d26f0c2b12e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lblwvg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lblwvg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lblwvg\",\n                                \"scale\": [\n                                    0.999974250793457,\n                                    0.9998873472213745,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a95c81ecd20891f1bafe760b47c06420\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lovfhw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lovfhw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lovfhw\",\n                                \"scale\": [\n                                    0.9998873472213745,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mgumxz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgumxz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgumxz\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.999988853931427,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mgvxov_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgvxov_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgvxov\",\n                                \"scale\": [\n                                    0.9998886585235596,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"dde5a8a24f95e81ea67759ba1da85bbe\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_miltge_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_miltge_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"miltge\",\n                                \"scale\": [\n                                    1.0000001192092896,\n                                    0.9999647736549377,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"80acf118157114cffb17d2205bd44b6c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mkgplc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mkgplc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mkgplc\",\n                                \"scale\": [\n                                    1.0000089406967163,\n                                    1.0001459121704102,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mwlvfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mwlvfb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mwlvfb\",\n                                \"scale\": [\n                                    1.0000306367874146,\n                                    1.0001626014709473,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oiagxk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oiagxk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oiagxk\",\n                                \"scale\": [\n                                    0.9999501705169678,\n                                    1.0000206232070923,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oqrbxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oqrbxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oqrbxo\",\n                                \"scale\": [\n                                    1.000234842300415,\n                                    1.0000065565109253,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_owxeej_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_owxeej_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"owxeej\",\n                                \"scale\": [\n                                    0.9999358654022217,\n                                    1.000019907951355,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_paarsl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_paarsl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"paarsl\",\n                                \"scale\": [\n                                    0.999906599521637,\n                                    1.0000128746032715,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e9e1b102347c179e7404ac8c63a057a1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pmygxs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pmygxs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pmygxs\",\n                                \"scale\": [\n                                    0.999999463558197,\n                                    0.9998095035552979,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cfa38d73f5886197dba5e112adfcc07a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qeofms_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qeofms_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qeofms\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    0.999953031539917,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"de4be4ceec4d1ed48e605abe3782ada8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rrabdp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rrabdp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rrabdp\",\n                                \"scale\": [\n                                    0.9999839663505554,\n                                    1.000156283378601,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ce0382609f884e45db5568d574f2e732\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uiloru_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uiloru_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uiloru\",\n                                \"scale\": [\n                                    0.9999812245368958,\n                                    0.9997938871383667,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0ed21a252059af2ca999e818dfd81cbb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_umqqmh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_umqqmh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"umqqmh\",\n                                \"scale\": [\n                                    1.000093698501587,\n                                    0.9998928904533386,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"be4f1289ffe5930678abdd08063eb74a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_upttgq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_upttgq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"upttgq\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    1.0000076293945312,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"326697987c9faf715f6e6116bc9f3801\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vxveul_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vxveul_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vxveul\",\n                                \"scale\": [\n                                    0.9999592900276184,\n                                    1.0000137090682983,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"db479ab9cc217e69d2cb0748a8fbe312\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_weybsr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_weybsr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"weybsr\",\n                                \"scale\": [\n                                    1.0000098943710327,\n                                    0.9999802112579346,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8b98d47f8b384604d4211372b3575ebd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xsubff_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xsubff_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xsubff\",\n                                \"scale\": [\n                                    1.0000114440917969,\n                                    1.0000354051589966,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xyrbgy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xyrbgy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xyrbgy\",\n                                \"scale\": [\n                                    1.0,\n                                    0.9999845027923584,\n                                    1.0000032186508179\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ylpkth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ylpkth_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ylpkth\",\n                                \"scale\": [\n                                    1.0000102519989014,\n                                    1.000156283378601,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zdhaff_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zdhaff_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zdhaff\",\n                                \"scale\": [\n                                    1.0000907182693481,\n                                    1.0000133514404297,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"washer_ziomqg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"washer_ziomqg_0\",\n                                \"category\": \"washer\",\n                                \"model\": \"ziomqg\",\n                                \"scale\": [\n                                    1.0000054836273193,\n                                    0.9999728202819824,\n                                    0.9999645948410034\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\": \"5104628d69c4e6da491d91832d049d58\"\n                            }\n                        },\n                        \"poster_73\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"poster_73\",\n                                \"category\": \"poster\",\n                                \"model\": \"dsrcyt\",\n                                \"scale\": [\n                                    0.9776579737663269,\n                                    0.5020166039466858,\n                                    0.5011332035064697\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"7fd334830e387a8fb32b48dfc632dd7b\"\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                              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             \"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_qacthv_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.485633134841919,\n                                        -0.7423186302185059,\n                                        0.39156973361968994\n                                    ],\n                                    \"ori\": [\n                                        0.0002889474853873253,\n                                        0.0003637956397142261,\n                                        0.7071061134338379,\n                                        0.7071073055267334\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                                    6.790651951860127e-08,\n                                    6.791844242570733e-08,\n                                    6.791263729155617e-08\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                            \"bush_cwsigt_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.309931516647339,\n                                        -3.0563852787017822,\n                                        0.21787306666374207\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                            \"bush_cwsigt_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.1376190185546875,\n                                        -3.686838388442993,\n         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                              0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"garden_chair_lraplz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        14.069025993347168,\n                                        11.16177749633789,\n                                        0.4360048174858093\n                                    ],\n                                    \"ori\": [\n                                        0.0013556152116507292,\n                                        -0.0005716407322324812,\n                                        0.010666056536138058,\n                                        0.9999420642852783\n                                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        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"straight_chair_uofiqj_0\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.494452476501465,\n                                        1.0171157121658325,\n                                        0.47334372997283936\n                                    ],\n                                    \"ori\": [\n                                        2.2351740014414645e-08,\n                                        1.2433156371116638e-07,\n                                        0.25882112979888916,\n                                        0.9659252762794495\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"straight_chair_uofiqj_1\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                            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     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                            \"bar_egwapq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.151969909667969,\n                                        0.15750814974308014,\n                                        0.4490511119365692\n                                    ],\n                                    \"ori\": [\n                                        1.3114304072894952e-15,\n                                        4.177641343972027e-09,\n                                        1.0,\n                                        3.1391647326017846e-07\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"bottom_cabinet_rhdbzv_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.260105133056641,\n                                        4.522088527679443,\n                                        0.21441008150577545\n                                    ],\n                                    \"ori\": [\n                                        -9.960494935512543e-07,\n                                        7.509695478802314e-07,\n                                        1.0,\n                                        -1.9470462575554848e-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                                    1.3109339169758982e-09,\n                                    1.2916538949525602e-09\n                                ],\n                                \"joint_vel\": [\n                                    -2.4287838972979267e-27,\n                                    5.0645948635957815e-26\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"car_ssxsje_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.43150520324707,\n                                        6.887782573699951,\n                                        0.6677820682525635\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n        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       \"attached_obj_uuid\": -1\n                                    }\n                                }\n                            },\n                            \"ceilings_alydei_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.9036145210266113,\n                                        1.5060296058654785,\n                                        2.546888589859009\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_aoekre_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.520022869110107,\n                                        5.557386875152588,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_feolie_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n         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                     ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_kbxtoc_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.136273384094238,\n                                        1.377645492553711,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_sbkyof_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.718851089477539,\n                                        5.511994361877441,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_vkfllw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.954075336456299,\n                                        -0.1620907038450241,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"decorative_sign_hgonwj_0\": {\n                                \"is_asleep\": false,\n                                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\"ori\": [\n                                        7.130104222596856e-07,\n                                        0.0020132323261350393,\n                                        -2.5964516225940315e-06,\n                                        0.9999979734420776\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"door_bexenl_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.886465072631836,\n                                        2.3801634311676025,\n                                        1.1881227493286133\n                                    ],\n                                    \"ori\": [\n                                        -6.518089321616571e-07,\n                                        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    \"non_kin\": {}\n                            },\n                            \"door_bexenl_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.0018343925476074,\n                                        0.7760968208312988,\n                                        1.1881228685379028\n                                    ],\n                                    \"ori\": [\n                                        3.083583214902319e-05,\n                                        -6.060673172214592e-07,\n                                        0.7042461633682251,\n                                        0.7099558711051941\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        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7.761946678161621,\n                                        1.1729766130447388\n                                    ],\n                                    \"ori\": [\n                                        -2.0100032998016104e-05,\n                                        -0.00045781396329402924,\n                                        -0.7034242153167725,\n                                        0.7107701301574707\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                                    1.6181414252969262e-07\n                                ],\n                                \"joint_vel\": [\n                                    9.995679473412226e-19\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_vudhlc_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.11318013817071915,\n                                        -1.1897296905517578,\n                                        1.1729761362075806\n                                    ],\n                                    \"ori\": [\n                                        0.00045755974133498967,\n                                        -1.9984359823865816e-05,\n                                        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]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.6516904830932617,\n                                        2.764906883239746,\n                                        2.1672098636627197\n                                    ],\n                                    \"ori\": [\n                                        1.4272957038485856e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326363384723663\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_10\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.7691168785095215,\n                                        7.305008411407471,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        8.102612980565027e-08,\n                                        3.282541172211495e-08,\n                                        0.3754790425300598,\n                                        0.9268308877944946\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_11\": {\n                                \"is_asleep\": false,\n    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\"ori\": [\n                                        3.610970367162736e-08,\n                                        7.961676828927011e-08,\n                                        0.910709798336029,\n                                        0.41304683685302734\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_15\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.119497776031494,\n                                        3.7024524211883545,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        8.609458745922893e-08,\n                                        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   \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_epketb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.887902021408081,\n                                        2.3541018962860107,\n                                        2.373765468597412\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_fwsbwf_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.5145368576049805,\n                                        0.5360475182533264,\n                                        1.2873893976211548\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                      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1.3484432697296143\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_jglkyp_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -9.126346588134766,\n                                        5.480226993560791,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_jnbgxj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.605769157409668,\n                                        7.693531036376953,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_jzwmhx_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.538814544677734,\n                                        2.9117226600646973,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_lblwvg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.2257602214813232,\n                                        3.982853651046753,\n                                        1.3484433889389038\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_lovfhw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.390817642211914,\n                                        -2.004019260406494,\n                                        1.28285551071167\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_mgumxz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.538814544677734,\n                                        1.8723160028457642,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_mgvxov_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.46843433380127,\n                                        -2.004021167755127,\n                                        1.28285551071167\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_miltge_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.082330226898193,\n                                        8.654457092285156,\n                                        1.3028624057769775\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n          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[\n                                        0.2233578860759735,\n                                        7.6935319900512695,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_oiagxk_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.4820524454116821,\n                                        8.164472579956055,\n                                        1.3484430313110352\n    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\"non_kin\": {}\n                            },\n                            \"walls_paarsl_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -9.12635612487793,\n                                        4.021864891052246,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_pmygxs_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.0308233499526978,\n                                        7.68658447265625,\n                                        1.3484432697296143\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_qeofms_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.398054838180542,\n                                        0.7558919787406921,\n 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0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_uiloru_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.008785522542893887,\n                                        -1.1004430055618286,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_umqqmh_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.6524200439453125,\n                                        3.409116506576538,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_upttgq_0\": {\n                         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                             \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_xsubff_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.620049953460693,\n                                        3.419678211212158,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_xyrbgy_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.6603317260742188,\n                                        -1.1554911136627197,\n                                        1.2870962619781494\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_ylpkth_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.4094693660736084,\n                                        7.693531036376953,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_zdhaff_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                             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0.500603437423706\n                                    ],\n                                    \"ori\": [\n                                        -0.00053965556435287,\n                                        -0.0008071211632341146,\n                                        0.0017295171273872256,\n                                        0.9999980330467224\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                                    4.553793053865703e-18\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    },\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"poster_73\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.992339134216309,\n                                        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                           ]\n                                },\n                                \"non_kin\": {\n                                    \"AttachedTo\": {\n                                        \"attached_obj_uuid\": -1\n                                    }\n                                }\n                            },\n                            \"robot_r1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.93963623046875,\n                                        2.287109375,\n                                        0.0050048828125\n                                    ],\n                                    \"ori\": [\n                                        0.0009172327700071037,\n                                        -7.712055230513215e-05,\n                                        -0.7661637663841248,\n            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7.158433845688705e-08,\n                                    3.0057154987161994e-08,\n                                    0.049999721348285675,\n                                    0.04999999329447746,\n                                    0.04999968037009239,\n                                    0.049999698996543884\n                                ],\n                                \"joint_vel\": [\n                                    -7.92954524513334e-05,\n                                    0.00038635393138974905,\n                                    -3.7012476241216063e-05,\n                                    0.00019920198246836662,\n                                    0.0008506753947585821,\n                                    -0.000630280002951622,\n                                    -0.002098921686410904,\n                                    -0.000588488532230258,\n                                    -0.0009357674280181527,\n                                    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                       -6.069003575248644e-07,\n                                    4.7266745241358876e-05\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                                                    3.755092257051729e-05,\n                                                    -1.7434358596801758e-05\n                                                ],\n                                                [\n                                                    7.898751209722832e-05,\n                                                    2.217796918557724e-06\n                                                ],\n                                                [\n                                                    7.9691169958096e-05,\n                                                    4.01375291403383e-06\n                                                ],\n                                                [\n                                                    8.180736767826602e-05,\n                                                    1.162290482170647e-05\n                                                ],\n                                                [\n                                                    -1.20699396575219e-05,\n                                                    2.235173997178208e-05\n                                                ]\n                                            ],\n                                            \"current_idx\": 0,\n                      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                               \"goal\": {\n                                            \"target\": [\n                                                0.05000000074505806\n                                            ]\n                                        },\n                                        \"vel_filter\": {\n                                            \"past_samples\": [\n                                                [\n                                                    3.3527612686157227e-05,\n                                                    2.6375053494120948e-05\n                                                ],\n                                                [\n                                                    8.969306509243324e-05,\n                                                    2.064505679300055e-06\n                                                ],\n                                                [\n                                                    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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_lfyqkj_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                      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                \"bddl_object_scope\": null\n                }\n            },\n            \"bush_lfyqkj_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_6\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_oedeqi_0\": {\n             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  \"args\": {\n                    \"name\": \"bush_oedeqi_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"oedeqi\",\n                    \"scale\": [\n                        0.5401318669319153,\n                        0.5401249527931213,\n                        0.5401372313499451\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"a82a770d6190d760516639e5b0aece2f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_oedeqi_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_oedeqi_2\",\n                    \"category\": \"bush\",\n                 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true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_pjhpwk_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"pjhpwk\",\n                    \"scale\": [\n                        0.5033133029937744,\n                        0.5033060312271118,\n                        0.503303587436676\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_pjhpwk_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"pjhpwk\",\n                    \"scale\": [\n                        0.5033133029937744,\n                        0.5033060312271118,\n                        0.503303587436676\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_pjhpwk_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"pjhpwk\",\n                    \"scale\": [\n                        0.5033133029937744,\n                        0.5033060312271118,\n                        0.503303587436676\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_2\",\n                    \"category\": \"bush\",\n                   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true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_5\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        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              \"bddl_object_scope\": null\n                }\n            },\n            \"car_xxsgpq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"car_xxsgpq_0\",\n                    \"category\": \"car\",\n                    \"model\": \"xxsgpq\",\n                    \"scale\": [\n                        1.0000019073486328,\n                        0.9999808073043823,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"0cd993eadd563bb4d7566d6aa2f67e05\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"charcoal_grill_crdaeu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"charcoal_grill_crdaeu_0\",\n                    \"category\": \"charcoal_grill\",\n                    \"model\": \"crdaeu\",\n                    \"scale\": [\n                        1.3063520193099976,\n                        1.4543060064315796,\n                        1.2942728996276855\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"12597746435ceb178b5cc46ca59f16a3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"countertop_tpuwys_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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\"dishwasher_ynrhuk_0\",\n                    \"category\": \"dishwasher\",\n                    \"model\": \"ynrhuk\",\n                    \"scale\": [\n                        1.103658676147461,\n                        1.1392384767532349,\n                        1.0695672035217285\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"bf8ebfa4f2eddcbf9df621f5aa74f752\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fridge_petcxr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fridge_petcxr_0\",\n                    \"category\": \"fridge\",\n                    \"model\": \"petcxr\",\n                    \"scale\": [\n                        1.000007152557373,\n                        1.00002920627594,\n                        1.0000027418136597\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"d83d5bc62bc0e59923984dd17680385c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"microwave_hjjxmi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"microwave_hjjxmi_0\",\n                    \"category\": \"microwave\",\n                    \"model\": \"hjjxmi\",\n                    \"scale\": [\n                        0.9998999238014221,\n                      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true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"97058ea0b9027ae350a298f453ed87e8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_dyymaq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_dyymaq_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"dyymaq\",\n                    \"scale\": [\n                        0.7470368146896362,\n                        0.7470313310623169,\n                        0.7470372319221497\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        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              \"bddl_object_scope\": null\n                }\n            },\n            \"tree_dyymaq_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_dyymaq_2\",\n                    \"category\": \"tree\",\n                    \"model\": \"dyymaq\",\n                    \"scale\": [\n                        0.7470368146896362,\n                        0.7470313310623169,\n                        0.7470372319221497\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7cec21fbed88a8afd1e4e62bb7dc741\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_flkzbo_0\": {\n               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\"args\": {\n                    \"name\": \"tree_wtyipq_3\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5868d78ff6cb31ec3d9e08f27765c95c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_wtyipq_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_4\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5868d78ff6cb31ec3d9e08f27765c95c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_wtyipq_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_5\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"fa31d04ec2beb2ccd5b8f4813360d422\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bottom_cabinet_rhdbzv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_rhdbzv_0\",\n                    \"category\": \"bottom_cabinet\",\n                    \"model\": \"rhdbzv\",\n                    \"scale\": [\n                        0.9999125599861145,\n                        0.9999962449073792,\n                        0.9999184012413025\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_alydei_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_alydei_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"alydei\",\n                    \"scale\": [\n                        0.999988853931427,\n                        0.9999680519104004,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": 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        \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_isizwh_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"isizwh\",\n                    \"scale\": [\n                        0.9999997019767761,\n                        0.9999985098838806,\n                        0.9999061226844788\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\"\n                    ],\n                    \"expected_file_hash\": \"d94c0f06b0244d1f69d59096d0a0ead6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_kbxtoc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"97e453ea122521909d3b30c306a76c63\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"decorative_sign_rypeha_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_rypeha_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"rypeha\",\n                    \"scale\": [\n                        0.9984210729598999,\n                        1.0001134872436523,\n                        1.0001660585403442\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"42d69583e4b4152650d990287368132f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"decorative_sign_xzsmxq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_xzsmxq_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"xzsmxq\",\n                    \"scale\": [\n                        0.9994317293167114,\n                        0.9999769926071167,\n                        1.0000669956207275\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"50b17dd7bf51dded04a7fef7a5383914\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_bexenl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_bexenl_0\",\n                    \"category\": \"door\",\n                    \"model\": \"bexenl\",\n                    \"scale\": [\n                        0.9997830986976624,\n                        1.0000373125076294,\n                        0.9999975562095642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"7865c16b2356a17e2c56ddca2d9de7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_bexenl_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_bexenl_1\",\n                    \"category\": \"door\",\n                    \"model\": \"bexenl\",\n                    \"scale\": [\n                        0.9984117150306702,\n                        1.0000373125076294,\n                        0.9999975562095642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7865c16b2356a17e2c56ddca2d9de7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_vudhlc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_0\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_vudhlc_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_1\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_vudhlc_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_2\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_vudhlc_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_3\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_0\",\n                    \"category\": 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        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_10\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_11\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_12\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_12\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_13\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_13\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_14\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_14\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_15\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_15\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_16\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_16\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_17\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_17\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_2\",\n                    \"category\": 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\"args\": {\n                    \"name\": \"picture_qlsyco_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"qlsyco\",\n                    \"scale\": [\n                        0.9999110102653503,\n                        0.9999677538871765,\n                        0.999721884727478\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"7e7bd70f770fefe441fa4e7f17a72217\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_tveyoh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_tveyoh_0\",\n                    \"category\": 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\"expected_file_hash\": \"a7e2d4d5c8b270a694b7f5b54454787c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_owbrvb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_2\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"a7e2d4d5c8b270a694b7f5b54454787c\",\n                    \"bddl_object_scope\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_4\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"a7e2d4d5c8b270a694b7f5b54454787c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_owbrvb_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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      \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"41b6772d0ee658d7f567c3aaf18fe00e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_light_kiuayi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_light_kiuayi_0\",\n                    \"category\": \"room_light\",\n                    \"model\": \"kiuayi\",\n                    \"scale\": [\n                        0.999922513961792,\n                        0.999922513961792,\n                        0.9999570250511169\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"0a708f17db358d92424529282bde269d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_frlxgz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_frlxgz_0\",\n                    \"category\": \"sofa\",\n                    \"model\": \"frlxgz\",\n                    \"scale\": [\n                        0.9999723434448242,\n                        1.0000096559524536,\n                        1.0000298023223877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"97f053b59fad5686fa81fb917c330d8c\",\n                    \"bddl_object_scope\": null\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                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"3a312e0397d4aaf7758006345e2b4ac0\",\n                    \"bddl_object_scope\": null\n        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\"category\": \"track_light\",\n                    \"model\": \"ltnnrc\",\n                    \"scale\": [\n                        1.0000474452972412,\n                        0.9999818801879883,\n                        1.0001263618469238\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"track_light_ltnnrc_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"track_light_ltnnrc_1\",\n                    \"category\": \"track_light\",\n                    \"model\": \"ltnnrc\",\n                    \"scale\": [\n                        1.0000474452972412,\n                        0.9999818801879883,\n                        1.0001263618469238\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_tv_dxyfxf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_tv_dxyfxf_0\",\n                    \"category\": \"wall_mounted_tv\",\n                    \"model\": \"dxyfxf\",\n                    \"scale\": [\n                        1.0007919073104858,\n                        1.0000017881393433,\n                        0.9999944567680359\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"1990336656301cdc2627aae5f7318022\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_nujxel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_nujxel_0\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"nujxel\",\n                    \"scale\": [\n                        1.0000932216644287,\n                        1.0000927448272705,\n                        0.9969304800033569\n                    ],\n            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null\n                }\n            },\n            \"walls_buhmrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_buhmrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"buhmrc\",\n                    \"scale\": [\n                        0.9999995231628418,\n                        0.9999675750732422,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6d240c22e5f36de3ad60ea086569d665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_chmqjn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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\"expected_file_hash\": \"fcae1747905d4fed1bdf50e4e2bc6479\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_dlfarz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_dlfarz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"dlfarz\",\n                    \"scale\": [\n                        0.9999517202377319,\n                        0.999993085861206,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1f18407b01312aa0fd583b93adf96e96\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_epketb_0\": {\n 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\"name\": \"walls_fwsbwf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fwsbwf\",\n                    \"scale\": [\n                        1.0001320838928223,\n                        0.9999893307685852,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9f3aa2c8d583922ab877f18a3e5a8df9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gishpf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gishpf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gishpf\",\n                    \"scale\": [\n                        0.9998095035552979,\n                        0.9999909996986389,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c972e073ef1ab690da74d37fd2dcb490\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hcbqvq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hcbqvq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hcbqvq\",\n                    \"scale\": [\n                        0.9998935461044312,\n                        0.9998812675476074,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4c223a0241e1c7e919f7514767a54b7a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jemunw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jemunw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jemunw\",\n                    \"scale\": [\n                        0.9999935030937195,\n                        0.9997928738594055,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3122bb8332fa6ea366a14e86d3e219ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jglkyp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jglkyp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jglkyp\",\n                    \"scale\": [\n                        0.9999024271965027,\n                        1.0000457763671875,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"042e510fad798211dad67f4921944b91\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jnbgxj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jnbgxj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jnbgxj\",\n                    \"scale\": [\n                        0.9999818205833435,\n                        1.000158429145813,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6cdd3a9f66cf52b3a80bf7f97e725e32\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jzwmhx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jzwmhx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jzwmhx\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999966025352478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"261879bc3e684bf2dbd77d26f0c2b12e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lblwvg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lblwvg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lblwvg\",\n                    \"scale\": [\n                        0.999974250793457,\n                        0.9998873472213745,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a95c81ecd20891f1bafe760b47c06420\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lovfhw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lovfhw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lovfhw\",\n                    \"scale\": [\n                        0.9998873472213745,\n                        0.9998785257339478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgumxz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgumxz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgumxz\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.999988853931427,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgvxov_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgvxov_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgvxov\",\n                    \"scale\": [\n                        0.9998886585235596,\n                        0.9998785257339478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"dde5a8a24f95e81ea67759ba1da85bbe\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_miltge_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_miltge_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"miltge\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        0.9999647736549377,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80acf118157114cffb17d2205bd44b6c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mkgplc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mkgplc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mkgplc\",\n                    \"scale\": [\n                        1.0000089406967163,\n                        1.0001459121704102,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mwlvfb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mwlvfb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mwlvfb\",\n                    \"scale\": [\n                        1.0000306367874146,\n                        1.0001626014709473,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oiagxk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oiagxk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oiagxk\",\n                    \"scale\": [\n                        0.9999501705169678,\n                        1.0000206232070923,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oqrbxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oqrbxo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oqrbxo\",\n                    \"scale\": [\n                        1.000234842300415,\n                        1.0000065565109253,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_owxeej_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_owxeej_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"owxeej\",\n                    \"scale\": [\n                        0.9999358654022217,\n                        1.000019907951355,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_paarsl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_paarsl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"paarsl\",\n                    \"scale\": [\n                        0.999906599521637,\n                        1.0000128746032715,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e9e1b102347c179e7404ac8c63a057a1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pmygxs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pmygxs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pmygxs\",\n                    \"scale\": [\n                        0.999999463558197,\n                        0.9998095035552979,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cfa38d73f5886197dba5e112adfcc07a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qeofms_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qeofms_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qeofms\",\n                    \"scale\": [\n                        0.9999974966049194,\n                        0.999953031539917,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"de4be4ceec4d1ed48e605abe3782ada8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rrabdp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rrabdp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rrabdp\",\n                    \"scale\": [\n                        0.9999839663505554,\n                        1.000156283378601,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ce0382609f884e45db5568d574f2e732\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uiloru_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uiloru_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uiloru\",\n                    \"scale\": [\n                        0.9999812245368958,\n                        0.9997938871383667,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0ed21a252059af2ca999e818dfd81cbb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_umqqmh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_umqqmh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"umqqmh\",\n                    \"scale\": [\n                        1.000093698501587,\n                        0.9998928904533386,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"be4f1289ffe5930678abdd08063eb74a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_upttgq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_upttgq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"upttgq\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        1.0000076293945312,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"326697987c9faf715f6e6116bc9f3801\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vxveul_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vxveul_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vxveul\",\n                    \"scale\": [\n                        0.9999592900276184,\n                        1.0000137090682983,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"db479ab9cc217e69d2cb0748a8fbe312\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_weybsr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_weybsr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"weybsr\",\n                    \"scale\": [\n                        1.0000098943710327,\n                        0.9999802112579346,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8b98d47f8b384604d4211372b3575ebd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xsubff_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xsubff_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xsubff\",\n                    \"scale\": [\n                        1.0000114440917969,\n                        1.0000354051589966,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xyrbgy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xyrbgy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xyrbgy\",\n                    \"scale\": [\n                        1.0,\n                        0.9999845027923584,\n                        1.0000032186508179\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ylpkth_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ylpkth_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ylpkth\",\n                    \"scale\": [\n                        1.0000102519989014,\n                        1.000156283378601,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zdhaff_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zdhaff_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zdhaff\",\n                    \"scale\": [\n                        1.0000907182693481,\n                        1.0000133514404297,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"poster_73\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"poster_73\",\n                    \"category\": \"poster\",\n                    \"model\": \"dsrcyt\",\n                    \"scale\": [\n                        0.9776579737663269,\n                        0.5020166039466858,\n                        0.5011332035064697\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7fd334830e387a8fb32b48dfc632dd7b\"\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": 1652,
+    "num_samples": 1652,
+    "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",
+        "poster.n.01_1_real",
+        "poster.n.01_1_pos",
+        "poster.n.01_1_ori_cos",
+        "poster.n.01_1_ori_sin",
+        "poster.n.01_1_in_gripper_left",
+        "poster.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right",
+        "countertop.n.01_1_real",
+        "countertop.n.01_1_pos",
+        "countertop.n.01_1_ori_cos",
+        "countertop.n.01_1_ori_sin",
+        "countertop.n.01_1_in_gripper_left",
+        "countertop.n.01_1_in_gripper_right",
+        "wall_nail.n.01_1_real",
+        "wall_nail.n.01_1_pos",
+        "wall_nail.n.01_1_ori_cos",
+        "wall_nail.n.01_1_ori_sin",
+        "wall_nail.n.01_1_in_gripper_left",
+        "wall_nail.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_cwsigt_7/base_link/visuals\", \"3\": \"/World/scene_0/bush_lfyqkj_4/base_link/visuals\", \"4\": \"/World/scene_0/bush_kyghri_7/base_link/visuals\", \"5\": \"/World/scene_0/walls_jnbgxj_0/base_link/visuals\", \"6\": \"/World/scene_0/poster_73/base_link/visuals\", \"7\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_umqqmh_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_uiloru_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_rrabdp_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_qeofms_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_pmygxs_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_paarsl_0/base_link/visuals\", \"19\": \"/World/scene_0/walls_owxeej_0/base_link/visuals\", \"20\": \"/World/scene_0/walls_oqrbxo_0/base_link/visuals\", \"21\": \"/World/scene_0/walls_oiagxk_0/base_link/visuals\", \"22\": \"/World/scene_0/walls_mwlvfb_0/base_link/visuals\", \"23\": \"/World/scene_0/walls_mkgplc_0/base_link/visuals\", \"24\": \"/World/scene_0/walls_miltge_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_mgvxov_0/base_link/visuals\", \"26\": \"/World/scene_0/walls_mgumxz_0/base_link/visuals\", \"27\": \"/World/scene_0/walls_lovfhw_0/base_link/visuals\", \"28\": \"/World/scene_0/walls_lblwvg_0/base_link/visuals\", \"29\": \"/World/scene_0/walls_jzwmhx_0/base_link/visuals\", \"30\": \"/World/scene_0/walls_jglkyp_0/base_link/visuals\", \"31\": \"/World/scene_0/walls_jemunw_0/base_link/visuals\", \"32\": \"/World/scene_0/walls_hcbqvq_0/base_link/visuals\", \"33\": \"/World/scene_0/walls_gishpf_0/base_link/visuals\", \"34\": \"/World/scene_0/walls_fwsbwf_0/base_link/visuals\", \"35\": \"/World/scene_0/walls_epketb_0/base_link/visuals\", \"36\": \"/World/scene_0/walls_dlfarz_0/base_link/visuals\", \"37\": \"/World/scene_0/walls_dewyls_0/base_link/visuals\", \"38\": \"/World/scene_0/walls_cxsmhr_0/base_link/visuals\", \"39\": \"/World/scene_0/walls_cvdpaq_0/base_link/visuals\", \"40\": \"/World/scene_0/walls_chmqjn_0/base_link/visuals\", \"41\": \"/World/scene_0/top_cabinet_tynnnw_1/rightdoor/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"49\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"50\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"51\": \"/World/scene_0/bush_cwsigt_10/base_link/visuals\", \"52\": \"/World/scene_0/bush_cwsigt_8/base_link/visuals\", \"53\": \"/World/scene_0/bush_knspbi_4/base_link/visuals\", \"54\": \"/World/scene_0/bush_kyghri_3/base_link/visuals\", \"55\": \"/World/scene_0/bush_lfyqkj_1/base_link/visuals\", \"56\": \"/World/scene_0/bush_oedeqi_1/base_link/visuals\", \"57\": \"/World/scene_0/bush_yhjhta_0/base_link/visuals\", \"58\": \"/World/scene_0/car_xxsgpq_0/windshield/visuals\", \"59\": \"/World/scene_0/car_xxsgpq_0/trunk/visuals\", \"60\": \"/World/scene_0/car_xxsgpq_0/right_quarter_glass/visuals\", \"61\": \"/World/scene_0/car_xxsgpq_0/right_door_glass/visuals\", \"62\": \"/World/scene_0/car_xxsgpq_0/rear_glass/visuals\", \"63\": \"/World/scene_0/car_xxsgpq_0/left_quarter_glass/visuals\", \"64\": \"/World/scene_0/car_xxsgpq_0/left_door_glass/visuals\", \"65\": \"/World/scene_0/car_xxsgpq_0/base_link/visuals\", \"66\": \"/World/scene_0/tree_flkzbo_0/base_link/visuals\", \"67\": \"/World/scene_0/tree_gmzozb_1/base_link/visuals\", \"68\": \"/World/scene_0/tree_rrhqpw_2/base_link/visuals\", \"69\": \"/World/scene_0/tree_wtyipq_2/base_link/visuals\", \"70\": \"/World/scene_0/wall_nail_wlnail_1/base_link/visuals\", \"71\": \"/World/scene_0/garden_chair_cottya_0/base_link/visuals\", \"72\": \"/World/scene_0/straight_chair_uofiqj_1/base_link/visuals\", \"73\": \"/World/scene_0/ceilings_vkfllw_0/base_link/visuals\", \"74\": \"/World/scene_0/door_vudhlc_2/glass/visuals\", \"75\": \"/World/scene_0/door_vudhlc_2/leaf/visuals\", \"76\": \"/World/scene_0/door_vudhlc_2/glass_base/visuals\", \"77\": \"/World/scene_0/door_vudhlc_2/base_link/visuals\", \"78\": \"/World/scene_0/downlight_pawfmw_13/base_link/visuals\", \"79\": \"/World/scene_0/downlight_pawfmw_4/base_link/visuals\", \"80\": \"/World/scene_0/drop_in_sink_lkklqs_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"81\": \"/World/scene_0/drop_in_sink_lkklqs_0/base_link/visuals\", \"82\": \"/World/scene_0/floors_ogynye_0/base_link/visuals\", \"83\": \"/World/scene_0/floors_zqjkvm_0/base_link/visuals\", \"84\": \"/World/scene_0/garden_light_qyfrwj_5/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"85\": \"/World/scene_0/garden_light_qyfrwj_5/base_link/visuals\", \"86\": \"/World/scene_0/lawn_srfikq_0/base_link/visuals\", \"87\": \"/World/scene_0/picture_ggajdz_0/base_link/visuals\", \"88\": \"/World/scene_0/playground_xdlcdi_0/base_link/visuals\", \"89\": \"/World/scene_0/room_light_kiuayi_0/base_link/visuals\", \"90\": \"/World/scene_0/track_light_ltnnrc_0/base_link/visuals\", \"91\": \"/World/scene_0/top_cabinet_tynnnw_1/base_link/visuals\", \"92\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"93\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"94\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"95\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"96\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"97\": \"/World/scene_0/bush_cwsigt_0/base_link/visuals\", \"98\": \"/World/scene_0/bush_cwsigt_5/base_link/visuals\", \"99\": \"/World/scene_0/bush_frqici_2/base_link/visuals\", \"100\": \"/World/scene_0/bush_knspbi_3/base_link/visuals\", \"101\": \"/World/scene_0/bush_kyghri_2/base_link/visuals\", \"102\": \"/World/scene_0/bush_kyghri_8/base_link/visuals\", \"103\": \"/World/scene_0/bush_lfyqkj_5/base_link/visuals\", \"104\": \"/World/scene_0/bush_pjhpwk_1/base_link/visuals\", \"105\": 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+}
\ No newline at end of file