diff --git "a/meta/episodes/task-0032/episode_00320350.json" "b/meta/episodes/task-0032/episode_00320350.json"
new file mode 100644--- /dev/null
+++ "b/meta/episodes/task-0032/episode_00320350.json"
@@ -0,0 +1,361 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_single_floor_task_wash_a_baseball_cap_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"baseball_cap.n.01_1\": \"baseball_cap_189\", \"baseball_cap.n.01_2\": \"baseball_cap_188\", \"countertop.n.01_1\": \"countertop_ikwqer_0\", \"dirt.n.02_1\": \"dirt\", \"floor.n.01_1\": \"floors_glwobe_0\", \"washer.n.03_1\": \"washer_ynwamu_0\"}}}, \"init_info\": {\"class_module\": 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\"bddl_object_scope\": null, \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\"}}, \"bush_xsqlhv_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_xsqlhv_3\", \"category\": \"bush\", \"model\": \"xsqlhv\", \"scale\": [1.0000061988830566, 0.9999860525131226, 1.0000078678131104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\"}}, \"bush_yhjhta_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_0\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.9999868273735046, 0.999997079372406, 0.999981164932251], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\"}}, \"bush_yhjhta_1\": 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\"expected_file_hash\": \"4657e608d7309fea3f1c01e788316ee5\"}}, \"table_lamp_qgdwbh_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_qgdwbh_0\", \"category\": \"table_lamp\", \"model\": \"qgdwbh\", \"scale\": [0.9999149441719055, 0.9999149441719055, 0.9999114274978638], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"f295e43bdde826b4ad3c9178f43479d6\"}}, \"table_lamp_qgdwbh_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_qgdwbh_1\", \"category\": \"table_lamp\", \"model\": \"qgdwbh\", \"scale\": [0.9999149441719055, 0.9999149441719055, 0.9999114274978638], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"f295e43bdde826b4ad3c9178f43479d6\"}}, 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\"ori\": [2.421438694000244e-07, -6.5192584663975595e-09, 0.9999992251396179, 0.0012703539105132222], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}, \"AttachedTo\": {\"attached_obj_uuid\": -1}}}, \"washer_ynwamu_0\": {\"is_asleep\": true, \"root_link\": {\"pos\": [21.996633529663086, 0.3348013162612915, 0.46791112422943115], \"ori\": [-8.654315934109036e-06, -1.357682231173385e-05, -0.0012448682682588696, 0.9999992251396179], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-2.7053060840759825e-19], \"joint_vel\": [-2.6037900332076824e-18], \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}, \"Temperature\": {\"temperature\": 23.0}}}, \"baseball_cap_188\": {\"is_asleep\": true, \"root_link\": {\"pos\": [24.421411514282227, -0.2107342630624771, 0.9829995632171631], \"ori\": [0.0002063890133285895, 0.0001607978920219466, -0.12166948616504669, 0.9925706386566162], 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\"garden_0\", \"utility_room_0\"], \"include_robots\": false}, \"robots\": [{\"type\": \"R1Pro\", \"name\": \"robot_r1\", \"action_normalize\": false, \"controller_config\": {\"arm_left\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"arm_right\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"gripper_left\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"gripper_right\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"base\": {\"name\": \"HolonomicBaseJointController\", \"motor_type\": \"velocity\", \"vel_kp\": 150, \"command_input_limits\": [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]], \"command_output_limits\": [[-0.75, -0.75, -1.0], [0.75, 0.75, 1.0]], \"use_impedances\": false}, \"trunk\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"camera\": {\"name\": \"NullJointController\"}}, \"self_collisions\": true, \"obs_modalities\": [\"proprio\"], \"position\": [23.44451904296875, 0.23248291015625, 0.004974365234375], \"orientation\": [-0.0002866012218873948, -0.0008748544496484101, 0.5814144611358643, 0.8136069774627686], \"grasping_mode\": \"assisted\", \"sensor_config\": {\"VisionSensor\": {\"modalities\": [\"rgb\", \"depth_linear\", \"seg_semantic\", \"seg_instance_id\"], \"sensor_kwargs\": {\"image_height\": 480, \"image_width\": 480}}}, \"reset_joint_pos\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.024999976158142, -1.4500000476837158, -0.4699999988079071, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806], \"include_sensor_names\": null, \"exclude_sensor_names\": null, \"proprio_obs\": [\"joint_qpos\", \"joint_qpos_sin\", \"joint_qpos_cos\", \"joint_qvel\", \"joint_qeffort\", \"robot_pos\", \"robot_ori_cos\", \"robot_ori_sin\", \"robot_2d_ori\", \"robot_2d_ori_cos\", \"robot_2d_ori_sin\", \"robot_lin_vel\", \"robot_ang_vel\", \"arm_left_qpos\", \"arm_left_qpos_sin\", \"arm_left_qpos_cos\", \"arm_left_qvel\", \"eef_left_pos\", \"eef_left_quat\", \"grasp_left\", \"gripper_left_qpos\", \"gripper_left_qvel\", \"arm_right_qpos\", \"arm_right_qpos_sin\", \"arm_right_qpos_cos\", \"arm_right_qvel\", \"eef_right_pos\", \"eef_right_quat\", \"grasp_right\", \"gripper_right_qpos\", \"gripper_right_qvel\", \"trunk_qpos\", \"trunk_qvel\", \"base_qpos\", \"base_qpos_sin\", \"base_qpos_cos\", \"base_qvel\"]}], \"objects\": [], \"task\": {\"type\": \"BehaviorTask\", \"activity_name\": \"wash_a_baseball_cap\", \"activity_definition_id\": 0, \"activity_instance_id\": 0, \"predefined_problem\": null, \"online_object_sampling\": false, \"debug_object_sampling\": false, \"highlight_task_relevant_objects\": false, \"termination_config\": {\"max_steps\": 50000}, \"reward_config\": {\"r_potential\": 1.0}, \"include_obs\": true}, \"wrapper\": {\"type\": null}}",
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         },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_jgoolz_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.255089282989502,\n                            4.027693748474121,\n                            0.3260188698768616\n                        ],\n                        \"ori\": [\n                            -1.5929341316223145e-05,\n                            -1.4828518033027649e-05,\n                            -0.6765274405479431,\n                            0.7364174723625183\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_jgoolz_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.437382221221924,\n                            4.110451698303223,\n                            0.3260185420513153\n                        ],\n                        \"ori\": [\n                            1.5214085578918457e-05,\n                            1.3181124813854694e-05,\n                            0.738136351108551,\n                            -0.6746516227722168\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_jgoolz_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.403809547424316,\n                            2.8983314037323,\n                            0.32601869106292725\n                        ],\n                        \"ori\": [\n                            1.1861324310302734e-05,\n                            -1.821585465222597e-05,\n                            0.6077518463134766,\n                            0.7941271066665649\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_jgoolz_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.25520133972168,\n                            2.693573474884033,\n                            0.3260185122489929\n                        ],\n                        \"ori\": [\n                            1.1771917343139648e-05,\n                            -1.6352511011064053e-05,\n                            0.6077518463134766,\n                            0.7941271662712097\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                \"boulder_vxbkjq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -16.29715347290039,\n                            39.024166107177734,\n                            0.1801229864358902\n                        ],\n                        \"ori\": [\n                            0.020185114815831184,\n                            0.780676543712616,\n                            0.5264541506767273,\n                            -0.3361290693283081\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_apkslx_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            19.655330657958984,\n                            8.170417785644531,\n                            2.716303586959839\n                        ],\n                        \"ori\": [\n                            -0.003169272094964981,\n                            -0.00014235811249818653,\n                            0.999994158744812,\n                            0.0012712108436971903\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_awbqsa_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.6643823385238647,\n                            4.449590682983398,\n                            3.0159108638763428\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_frqekm_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -10.319549560546875,\n                            2.99928617477417,\n                            2.3755974769592285\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_gasyop_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            21.243879318237305,\n                            15.910834312438965,\n                            2.7620418071746826\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_ibxzsn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.347566604614258,\n                            20.60627555847168,\n                            2.7185845375061035\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_iskjpi_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.49820899963379,\n                            14.166620254516602,\n                            2.7620418071746826\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_jjyrdh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            13.536916732788086,\n                            0.7440887689590454,\n                            2.7151918411254883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_khkogf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.226198196411133,\n                            11.028487205505371,\n                            2.715930461883545\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_kxjvpr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.614812850952148,\n                            -0.36105722188949585,\n                            2.7164530754089355\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_nsysju_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.102434158325195,\n                            24.773836135864258,\n                            2.862042188644409\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719203950837255\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_qdlnli_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.69896697998047,\n                            20.609539031982422,\n                            2.7620418071746826\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719203950837255\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_qenicw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.263925552368164,\n                            17.9824161529541,\n                            2.756324052810669\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_shvqqe_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.650407791137695,\n                            23.7845401763916,\n                            2.8843472003936768\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_tbhzzb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.289335250854492,\n                            -0.22356384992599487,\n                            2.7168900966644287\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719203950837255\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_tcwyvb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.3020293712615967,\n                            -0.08820299059152603,\n                            2.7156898975372314\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_tjwkje_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.001570701599121,\n                            3.3189051151275635,\n                            2.712042808532715\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_wbbkuv_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.248825073242188,\n                            6.9186835289001465,\n                            2.76203989982605\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"countertop_fjkase_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            21.927387237548828,\n                            0.47523215413093567,\n                            0.8967929482460022\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719203950837255\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"countertop_ikwqer_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.51506996154785,\n                            0.017834875732660294,\n                            0.9085789918899536\n                        ],\n                        \"ori\": [\n                            -4.407015197216424e-08,\n                            -2.820743532083725e-07,\n                            0.9999991655349731,\n                            0.0012716819765046239\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"countertop_sjxber_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.697965621948242,\n                            -2.061845541000366,\n                            0.9085924625396729\n                        ],\n                        \"ori\": [\n                            -1.6880179032341402e-07,\n                            -1.6837284988469037e-07,\n                            0.7062069177627563,\n                            0.7080054879188538\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"door_crtrpa_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.909823417663574,\n                            4.79899263381958,\n                            1.1613048315048218\n                        ],\n                        \"ori\": [\n                            -4.827695192943793e-06,\n                            -3.866884412673244e-08,\n                            0.9999681115150452,\n                            -0.007989278063178062\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_eduavq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -14.740835189819336,\n                            9.15676212310791,\n                            1.1608833074569702\n                        ],\n                        \"ori\": [\n                            0.000364329811418429,\n                            -0.0013416705187410116,\n                            0.40438640117645264,\n                            0.9145873785018921\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_fnvpyu_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            18.023595809936523,\n                            17.786287307739258,\n                            1.3550719022750854\n                        ],\n                        \"ori\": [\n                            0.0007749271462671459,\n                            -5.0590915634529665e-06,\n                            -0.0014219933655112982,\n                            0.9999987483024597\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_iuuykr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -12.70078182220459,\n                            18.684579849243164,\n                            1.923855185508728\n                        ],\n                        \"ori\": [\n                            -8.173468813765794e-05,\n                            -7.773763354634866e-05,\n                            0.7246024012565613,\n                            -0.6891671419143677\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0,\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0,\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_kwbnhy_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.388137817382812,\n                            16.86415672302246,\n                            1.326021671295166\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0000001192092896\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_kwbnhy_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            18.467453002929688,\n                            -2.483981132507324,\n                            1.3314296007156372\n                        ],\n                        \"ori\": [\n                            2.2685790099785663e-06,\n                            5.490551302500535e-08,\n                            -0.6999108195304871,\n                            0.7142303586006165\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_kwbnhy_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.36335563659668,\n                            5.792731761932373,\n                            1.3245834112167358\n                        ],\n                        \"ori\": [\n                            1.8196999462816166e-06,\n                            1.4821011973253917e-08,\n                            0.008148525841534138,\n                            0.9999669194221497\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_kwbnhy_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.38517951965332,\n                            14.773014068603516,\n                            1.3247464895248413\n                        ],\n                        \"ori\": [\n                            1.8191220760854776e-06,\n                            1.7962520360015333e-11,\n                            0.011554650962352753,\n                            0.9999333620071411\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_tfdrhh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.0913333892822266,\n                            0.04531616345047951,\n                            1.4764293432235718\n                        ],\n                        \"ori\": [\n                            0.0020832521840929985,\n                            8.189526852220297e-07,\n                            0.9999870657920837,\n                            0.004663135856389999\n                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  -0.00037246948340907693,\n                            -7.43749524190207e-08,\n                            0.9999985098838806,\n                            0.001720980042591691\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"downlight_fisfbn_16\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.42437744140625,\n                            1.1047389507293701,\n                            2.7507283687591553\n                        ],\n                        \"ori\": [\n                            -1.389872039680995e-08,\n                            -6.019894072838887e-15,\n                            1.0,\n                            -4.331257628109597e-07\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_fisfbn_17\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.416385650634766,\n                            -1.5484504699707031,\n                            2.7507283687591553\n                        ],\n                        \"ori\": [\n                            -9.776289999763321e-09,\n                            -4.2343630195869255e-15,\n                            1.0,\n                            -4.331257628109597e-07\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_fisfbn_18\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.41888427734375,\n                            -1.5541067123413086,\n                            2.7507283687591553\n                        ],\n                        \"ori\": [\n                            -9.776289999763321e-09,\n                            -4.2343630195869255e-15,\n                            1.0,\n                            -4.331257628109597e-07\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_fisfbn_19\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n               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                 0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719199294224381\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"shelf_amyper_8\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            19.946971893310547,\n                            7.466673851013184,\n                            1.1924750804901123\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719199294224381\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"shelf_amyper_9\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            19.946971893310547,\n                            7.466673851013184,\n                            1.6023286581039429\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719199294224381\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"showerhead_vuswbv_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -9.072824478149414,\n                            5.570324897766113,\n                            1.439429521560669\n                        ],\n                        \"ori\": [\n                            0.00027155145653523505,\n                            0.0008344646776095033,\n                            0.932302713394165,\n                            0.3616778552532196\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"sliding_door_lrvyvc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            12.297039031982422,\n                            4.122556209564209,\n                            1.3567099571228027\n                        ],\n                        \"ori\": [\n                            -0.002384546445682645,\n                            0.0023770106490701437,\n                            0.7071046233177185,\n                            0.7071009874343872\n     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                     0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"sliding_door_tprpvb_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.203441619873047,\n                            14.243247985839844,\n                            2.310049057006836\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"sliding_door_tprpvb_10\": {\n                    \"is_asleep\": false,\n                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                  ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"sliding_door_tprpvb_12\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            19.12548065185547,\n                            2.4108870029449463,\n                            2.310049057006836\n                        ],\n                        \"ori\": [\n                            -9.094947017729282e-13,\n                            1.7919693506840417e-13,\n                            0.70710688829422,\n                            0.7071066498756409\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n        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0.7071068286895752,\n                            -0.7071067094802856\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"sliding_door_tprpvb_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            21.096506118774414,\n                            16.458438873291016,\n                            2.310049057006836\n                        ],\n                        \"ori\": [\n                            9.094947017729282e-13,\n                            2.1614654510671016e-15,\n                            0.7071069478988647,\n                            0.7071065902709961\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"sliding_door_tprpvb_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.72974967956543,\n                            25.27022933959961,\n                            2.310049057006836\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"sliding_door_tprpvb_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.89046859741211,\n                            9.72165584564209,\n                            2.310049057006836\n                        ],\n                        \"ori\": [\n                            0.0,\n                            -2.523675712851059e-14,\n                            0.7071068286895752,\n                            -0.7071067094802856\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n       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\"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                \"sliding_door_tprpvb_7\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.198659896850586,\n                            2.328411340713501,\n                            2.310049057006836\n                        ],\n                        \"ori\": [\n                            -9.094947017729282e-13,\n                            -4.1190141575331296e-13,\n                            0.70710688829422,\n                            0.7071066498756409\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"sliding_door_tprpvb_8\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.602252960205078,\n                            15.204446792602539,\n                            2.310049057006836\n                        ],\n                        \"ori\": [\n                            -9.094947017729282e-13,\n                            2.9188569963811695e-12,\n                            0.70710688829422,\n                            -0.7071066498756409\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"sliding_door_tprpvb_9\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            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         24.5074520111084,\n                            -1.2303513288497925,\n                            0.9663846492767334\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012722780229523778\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        },\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"walls_aescmv_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.692112445831299,\n                            -2.4091103076934814,\n                            2.882434129714966\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_ahpkeh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            21.242748260498047,\n                            15.21430492401123,\n                            1.552005410194397\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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0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_axkjhh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.23029136657715,\n                            21.796222686767578,\n                            2.7020115852355957\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_babjhv_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\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_btcoak_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.96686553955078,\n                            -1.2240654230117798,\n                            0.5390200018882751\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_chsrxr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                 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    1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_duatwe_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.013027191162109,\n                            4.762740135192871,\n                            2.885402202606201\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_duepvi_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            21.25629425048828,\n                            -2.468238353729248,\n                         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1.2035202980041504\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bottom_cabinet_no_top_gjrero_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_gjrero_2\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"gjrero\",\n              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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"\n                            }\n                        },\n                        \"bush_kyghri_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    1.0000250339508057,\n                                    1.000002384185791,\n                                    1.0000070333480835\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"\n                            }\n                        },\n                        \"bush_lfyqkj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                         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                              \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"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                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"\n                            }\n                        },\n                        \"bush_lfyqkj_3\": {\n                            \"class_module\": 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\"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.7209866642951965,\n                                    0.7209925651550293,\n                                    0.7209813594818115\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\"\n                            }\n                        },\n                        \"bush_xsqlhv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n          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\"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_xsqlhv_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"xsqlhv\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.9999860525131226,\n                                    1.0000078678131104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\"\n                            }\n                        },\n                        \"bush_xsqlhv_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_xsqlhv_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"xsqlhv\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.9999860525131226,\n                                    1.0000078678131104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\"\n                            }\n                        },\n                        \"bush_xsqlhv_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_xsqlhv_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"xsqlhv\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.9999860525131226,\n                                    1.0000078678131104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\"\n                            }\n                        },\n                        \"bush_yhjhta_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.9999868273735046,\n                                    0.999997079372406,\n                                    0.999981164932251\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\"\n                            }\n                        },\n                        \"bush_yhjhta_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.9999868273735046,\n                                    0.999997079372406,\n                                    0.999981164932251\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\"\n                            }\n                        },\n                        \"car_ssxsje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"car_ssxsje_0\",\n                                \"category\": \"car\",\n                                \"model\": \"ssxsje\",\n                                \"scale\": [\n                                    1.0000019073486328,\n                                    0.9999808073043823,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9ce18e38beba075d38367f101c1a6b82\"\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         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\"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"828c3d9f35254623e71ec83c7a697d70\"\n                            }\n                        },\n                        \"armchair_qhcrgb_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_8\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"828c3d9f35254623e71ec83c7a697d70\"\n                            }\n                        },\n                        \"armchair_qhcrgb_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_9\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"828c3d9f35254623e71ec83c7a697d70\"\n                            }\n                        },\n                        \"breakfast_table_rhjoby_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"breakfast_table_rhjoby_0\",\n                                \"category\": \"breakfast_table\",\n                                \"model\": \"rhjoby\",\n                                \"scale\": [\n                                    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                          \"args\": {\n                                \"name\": \"coffee_table_rlsebe_0\",\n                                \"category\": \"coffee_table\",\n                                \"model\": \"rlsebe\",\n                                \"scale\": [\n                                    1.0000269412994385,\n                                    1.000026822090149,\n                                    0.999855637550354\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a0e53f8ae333f7e2e6e69a87ac3c38c4\"\n                            }\n                        },\n                        \"coffee_table_wgtaip_0\": 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\"expected_file_hash\": \"7e9bc9acd85bd29391ffaa63deb9b89b\"\n                            }\n                        },\n                        \"eames_chair_hndxiw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"eames_chair_hndxiw_0\",\n                                \"category\": \"eames_chair\",\n                                \"model\": \"hndxiw\",\n                                \"scale\": [\n                                    1.0000159740447998,\n                                    0.9999547004699707,\n                                    1.0000088214874268\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f2890a64443b0c42c87f0e67de288811\"\n                            }\n                        },\n                        \"eames_chair_ubmrms_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"eames_chair_ubmrms_0\",\n                                \"category\": \"eames_chair\",\n                                \"model\": \"ubmrms\",\n                                \"scale\": [\n                                    0.9999967217445374,\n                                    0.999999463558197,\n                                    0.9999688267707825\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6775b3a3769e8dfffae0198401394d7e\"\n                            }\n                        },\n                        \"eames_chair_ubmrms_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"eames_chair_ubmrms_1\",\n                                \"category\": \"eames_chair\",\n                                \"model\": \"ubmrms\",\n                                \"scale\": [\n                                    0.9999967217445374,\n                                    0.999999463558197,\n                                    0.9999688267707825\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6775b3a3769e8dfffae0198401394d7e\"\n                            }\n                        },\n                        \"eames_chair_ubmrms_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"eames_chair_ubmrms_2\",\n                                \"category\": \"eames_chair\",\n                                \"model\": 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  \"name\": \"eames_chair_ubmrms_3\",\n                                \"category\": \"eames_chair\",\n                                \"model\": \"ubmrms\",\n                                \"scale\": [\n                                    0.9999967217445374,\n                                    0.999999463558197,\n                                    0.9999688267707825\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6775b3a3769e8dfffae0198401394d7e\"\n                            }\n                        },\n                        \"floor_lamp_disyzd_0\": {\n                            \"class_module\": 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              \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"48ff074fb5a6a36b42bd9b010f794de9\"\n                            }\n                        },\n                        \"ottoman_lsaxch_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_0\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\"\n                            }\n                        },\n                        \"ottoman_lsaxch_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_1\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\"\n                            }\n                        },\n                        \"ottoman_lsaxch_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_2\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\"\n                            }\n                        },\n                        \"ottoman_lsaxch_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_3\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\"\n                            }\n                        },\n                        \"ottoman_lsaxch_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_4\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\"\n                            }\n                        },\n                        \"ottoman_wkmbra_0\": {\n                            \"class_module\": 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         }\n                        },\n                        \"pot_plant_bjwskl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_bjwskl_0\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"bjwskl\",\n                                \"scale\": [\n                                    0.99996417760849,\n                                    0.9999886751174927,\n                                    1.0000299215316772\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8883671bf7401d7649ab08bd66a95d7c\"\n                            }\n                        },\n                        \"pot_plant_bjwskl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_bjwskl_1\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"bjwskl\",\n                                \"scale\": [\n                                    0.99996417760849,\n                                    0.9999886751174927,\n                                    1.0000299215316772\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8883671bf7401d7649ab08bd66a95d7c\"\n                            }\n                        },\n                        \"pot_plant_lligdl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_0\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\"\n                            }\n                        },\n                        \"pot_plant_lligdl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_1\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\"\n                            }\n                        },\n                        \"pot_plant_lligdl_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_2\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\"\n                            }\n                        },\n                        \"pot_plant_lligdl_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_3\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\"\n                            }\n                        },\n                        \"public_trash_can_gvnfgj_0\": {\n                            \"class_module\": 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         ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d8e26c7420e551433a79bc9397f19221\"\n                            }\n                        },\n                        \"sofa_cozrjc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_cozrjc_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"cozrjc\",\n                                \"scale\": [\n                                    1.0000355243682861,\n                                    1.000028371810913,\n                                    1.0000559091567993\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": 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\"scale\": [\n                                    1.0000821352005005,\n                                    1.0000149011611938,\n                                    0.9986956119537354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f6fd2b5ec030ad97952bf7a27d11812b\"\n                            }\n                        },\n                        \"ceilings_apkslx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_apkslx_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"apkslx\",\n                                \"scale\": [\n                                    1.0000032186508179,\n                                    0.9999992251396179,\n                                    1.0000026226043701\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"b6ae83f57c787c5dbd2aa073ace1b1ae\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_awbqsa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_awbqsa_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"awbqsa\",\n                                \"scale\": [\n                                    1.0000066757202148,\n                                    0.9999920129776001,\n                                    1.0000675916671753\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"92b843e892cedcb936baebe66eac1f33\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_frqekm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_frqekm_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"frqekm\",\n                                \"scale\": [\n                                    1.0000094175338745,\n                                    1.0000001192092896,\n                                    0.999937891960144\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"expected_file_hash\": \"c079d4cb2c56a85412de2105f0ce2c1b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gasyop_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gasyop_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gasyop\",\n                                \"scale\": [\n                                    0.9999809861183167,\n                                    0.9999995827674866,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_2\"\n 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            \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b703cea128fe865e9a86194dea28930f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_iskjpi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_iskjpi_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"iskjpi\",\n                                \"scale\": [\n                                    0.9999969601631165,\n                                    0.9999968409538269,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"expected_file_hash\": \"34f7fb141fa21250508f97b9ddded2a4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_jjyrdh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_jjyrdh_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"jjyrdh\",\n                                \"scale\": 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           \"category\": \"ceilings\",\n                                \"model\": \"khkogf\",\n                                \"scale\": [\n                                    0.9999940395355225,\n                                    0.9999963045120239,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a50ad9b2b6fdf95ebbb258aa13d0855\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_kxjvpr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_kxjvpr_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"kxjvpr\",\n                                \"scale\": [\n                                    0.9999985098838806,\n                                    1.0000051259994507,\n                                    1.0003376007080078\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"2c55352da0bd29c833a0043f772d0719\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_nsysju_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_nsysju_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"nsysju\",\n                                \"scale\": [\n                                    1.0000066757202148,\n                                    1.0000131130218506,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_0\"\n                                ],\n                                \"expected_file_hash\": \"98e9d6a2292ac5fa4e3aaa1643df5ab2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_qdlnli_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_qdlnli_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"qdlnli\",\n                                \"scale\": [\n                                    1.000005841255188,\n                                    1.0000149011611938,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"expected_file_hash\": \"bf8fcf7d53f4085a0d47428d5462571e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_qenicw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_qenicw_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"qenicw\",\n                                \"scale\": [\n                                    0.9999836683273315,\n                                    0.9999991059303284,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"expected_file_hash\": \"459a595d9ea0375935adfd08ff7a384e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_shvqqe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_shvqqe_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"shvqqe\",\n                                \"scale\": [\n                                    0.9999994039535522,\n                                    1.0000087022781372,\n                                    0.9999756217002869\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"9cc00c03181d8a273ba2afb116ef5eba\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_tbhzzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_tbhzzb_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"tbhzzb\",\n                                \"scale\": [\n                                    0.9999912977218628,\n  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              \"model\": \"tcwyvb\",\n                                \"scale\": [\n                                    0.999995231628418,\n                                    0.9999962449073792,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"expected_file_hash\": \"b43545ac98755677a949d2306843cfee\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_tjwkje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_tjwkje_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"tjwkje\",\n                                \"scale\": [\n                                    0.9999982714653015,\n                                    0.999995231628418,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"expected_file_hash\": \"6ecbd143b8d2620ca6f52edae9a23434\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_wbbkuv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_wbbkuv_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"wbbkuv\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    0.9999978542327881,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"expected_file_hash\": \"ceab944ad9d1ec4ea556be3f12c1186d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_fjkase_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_fjkase_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"fjkase\",\n                                \"scale\": [\n                                    1.000059962272644,\n                                    1.0000097751617432,\n                                    0.9999768137931824\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"expected_file_hash\": \"e16dc4059d36be394a995a2d37cdd124\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_ikwqer_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_ikwqer_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"ikwqer\",\n                                \"scale\": [\n                                    1.000056266784668,\n                                    1.0000085830688477,\n                                    0.9999606609344482\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                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8cf2d6171e1727e4f72e2bdb8a99ac6d\"\n                            }\n                        },\n                        \"countertop_kelzer_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_kelzer_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"kelzer\",\n                                \"scale\": [\n                                    1.0000444650650024,\n                                    0.9999945759773254,\n                                    1.0007061958312988\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eb1e223a32a11560323fe400191a5946\"\n                            }\n                        },\n                        \"countertop_sjxber_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_sjxber_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"sjxber\",\n                                \"scale\": [\n                                    1.0000237226486206,\n                                    1.000012755393982,\n                                    0.9999550580978394\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"expected_file_hash\": \"40cd413884bbd69ad143a52a75e98362\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_crtrpa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_crtrpa_0\",\n                                \"category\": \"door\",\n                                \"model\": \"crtrpa\",\n                                \"scale\": [\n                                    1.0000602006912231,\n                                    1.0000410079956055,\n                                    0.9999841451644897\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"95f875bd753451b9fd324c8ab551af5d\"\n                            }\n                        },\n                        \"door_eduavq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_eduavq_0\",\n                                \"category\": \"door\",\n                                \"model\": \"eduavq\",\n                                \"scale\": [\n                                    0.9997847676277161,\n                                    1.0000203847885132,\n                                    1.000014305114746\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2c3aa8efc5f860d9df7d52203e6611da\"\n                            }\n                        },\n                        \"door_fnvpyu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_fnvpyu_0\",\n                                \"category\": \"door\",\n                                \"model\": \"fnvpyu\",\n                                \"scale\": [\n                                    1.0002930164337158,\n                                    0.999984085559845,\n                                    1.000014066696167\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"755e7ef2f164ceb2f60a0b07c9253710\"\n                            }\n                        },\n                        \"door_iuuykr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_iuuykr_0\",\n                                \"category\": \"door\",\n                                \"model\": \"iuuykr\",\n                                \"scale\": [\n                                    1.000057339668274,\n                                    1.0000216960906982,\n                                    1.0000015497207642\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d4f63912343f9527f78fdb0bdcf0962c\"\n                            }\n                        },\n                        \"door_kwbnhy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_0\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.0001516342163086,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_kwbnhy_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_1\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.007671594619751,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_kwbnhy_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_2\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    0.9946825504302979,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_kwbnhy_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_3\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.0890235900878906,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_tfdrhh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_tfdrhh_0\",\n                                \"category\": \"door\",\n                                \"model\": \"tfdrhh\",\n                                \"scale\": [\n                                    1.0001115798950195,\n                                    1.0000137090682983,\n                                    0.9999946355819702\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bde00d008f88f164609418d516335b1b\"\n                            }\n                        },\n                        \"door_tonlzz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_tonlzz_0\",\n                                \"category\": \"door\",\n                                \"model\": \"tonlzz\",\n                                \"scale\": [\n                                    1.0001226663589478,\n                                    1.000045895576477,\n                                    0.9999911189079285\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\",\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"45ed1765b26e97c4213bb7dad0a765ea\"\n                            }\n                        },\n                        \"downlight_fisfbn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_0\",\n                                \"category\": \"downlight\",\n                                \"model\": 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 \"name\": \"downlight_fisfbn_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_10\": {\n                            \"class_module\": 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                 }\n                        },\n                        \"downlight_fisfbn_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_11\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_12\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_13\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_13\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_14\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_14\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_15\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_15\",\n                                \"category\": 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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_16\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_17\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_17\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_18\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_18\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_19\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_19\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_20\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_20\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_21\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_21\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_22\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_22\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_23\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_23\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_24\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_24\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_25\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_25\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_26\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_26\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_27\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_27\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_28\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_28\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_29\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_29\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_4\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_30\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_30\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_31\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_31\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_32\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_32\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_33\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_33\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_34\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n         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\"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_8\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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1.6001265048980713,\n                                    1.6000874042510986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c1bb38cf03056ccc35dfe8ee845bf9d5\"\n                            }\n                        },\n                        \"downlight_nlhffs_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_nlhffs_7\",\n                                \"category\": \"downlight\",\n                                \"model\": 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    ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6b127bf60fbcf019bad1beb1aefface4\"\n                            }\n                        },\n                        \"downlight_zojpvs_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_zojpvs_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"zojpvs\",\n                                \"scale\": [\n                                    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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"26eb3e4f7a8b01f6d39dc593dabf2cdc\"\n                            }\n                        },\n                        \"floors_vcsslq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_vcsslq_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"vcsslq\",\n                                \"scale\": [\n                                    1.0000104904174805,\n                                    1.0000070333480835,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"70c0007261d4b8bfee86dd0c6d617792\"\n                            }\n                        },\n                        \"floors_vmamhf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_vmamhf_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"vmamhf\",\n                                \"scale\": [\n              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\"category\": \"floors\",\n                                \"model\": \"wkdxrr\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.999998152256012,\n                                    0.9999285936355591\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c69c2fe32dc9e40902d43ba0ae7d49cb\"\n                            }\n                        },\n                        \"floors_yfyxxu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n     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        ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b50a54bcb1aa8fc45a464d98ab4b943b\"\n                            }\n                        },\n                        \"gas_fireplace_gwqitr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"gas_fireplace_gwqitr_0\",\n                                \"category\": \"gas_fireplace\",\n                                \"model\": \"gwqitr\",\n                                \"scale\": [\n                                    0.9999507069587708,\n                                    0.9999906420707703,\n                                    1.0000510215759277\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3d5c88bd97031c29a539844d5a45f703\"\n                            }\n                        },\n                        \"lawn_wwoqjw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_wwoqjw_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"wwoqjw\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    0.9999285936355591\n                   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\"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ef96026ff7f066e8a0b906c7549920f3\"\n                            }\n                        },\n                        \"mirror_lobucc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_lobucc_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"lobucc\",\n                                \"scale\": [\n                                    0.9972072243690491,\n                                    0.9999979734420776,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a9ece4b9fa4766ad3c98f267413881b2\"\n                            }\n                        },\n                        \"mirror_ndvgah_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_ndvgah_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"ndvgah\",\n                                \"scale\": [\n                                    0.9933433532714844,\n                                    1.0000016689300537,\n                                    1.0000172853469849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d9ba95ab0c4b73c686916cc0ffe0e2cd\"\n                            }\n                        },\n                        \"mirror_tytkbq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_tytkbq_0\",\n                                \"category\": \"mirror\",\n                                \"model\": 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                      ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3b503c4c61c37fc3850ad53c64038c0a\"\n                            }\n                        },\n                        \"nightstand_wbxekb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_wbxekb_2\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"wbxekb\",\n                                \"scale\": [\n                                    1.0000756978988647,\n                                    0.6022898554801941,\n                                    0.9999978542327881\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3b503c4c61c37fc3850ad53c64038c0a\"\n                            }\n                        },\n                        \"openable_window_eyvzfu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"openable_window_eyvzfu_0\",\n                                \"category\": \"openable_window\",\n                                \"model\": \"eyvzfu\",\n                                \"scale\": [\n                                    0.999903678894043,\n                                    0.9999958872795105,\n        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1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_2\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_3\",\n                       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                \"args\": {\n                                \"name\": \"shelf_amyper_4\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_5\": {\n                            \"class_module\": 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                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_7\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_8\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                           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                             ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_fjozhc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_fjozhc_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"fjozhc\",\n                                \"scale\": [\n                                    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\"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"80ffcb70b1ce51bd384f3fb5a9ce6c40\"\n                            }\n                        },\n                        \"showerhead_lrfpvk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_lrfpvk_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"lrfpvk\",\n                                \"scale\": [\n                                    0.9998265504837036,\n                                    1.0000230073928833,\n                                    1.000001072883606\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c7e7022641839c1a95cb5fe07b621e69\"\n                            }\n                        },\n                        \"showerhead_vbijwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_vbijwn_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"vbijwn\",\n                                \"scale\": [\n                                    0.9999907612800598,\n                                    1.0001437664031982,\n                                    0.9999953508377075\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0dc0cc62bedbf477aa9a12b4f42d6c5d\"\n                            }\n                        },\n                        \"showerhead_vuswbv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_vuswbv_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"vuswbv\",\n                                \"scale\": [\n                                    1.0000189542770386,\n                                    1.000184416770935,\n                                    0.9999966621398926\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"40f822e4cc6c86f07b2b79ff42032cce\"\n                            }\n                        },\n                        \"sliding_door_lrvyvc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_lrvyvc_0\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"lrvyvc\",\n                                \"scale\": [\n                                    0.9999122023582458,\n                                    1.000001072883606,\n                                    1.0000181198120117\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bd352e7c99702cfb43a99090af6ff865\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_0\": {\n                            \"class_module\": 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\"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_1\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.0632356405258179,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_10\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_10\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.001861810684204,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_11\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.088773250579834,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_12\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.2041987180709839,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_2\": {\n                            \"class_module\": 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\"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_3\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.9631685018539429,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\",\n                                    \"closet_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_4\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.748390257358551,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_5\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": 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\"name\": \"sliding_door_tprpvb_6\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.099666953086853,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_7\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.115620493888855,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"utility_room_0\"\n                                ],\n                                \"expected_file_hash\": 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\"in_rooms\": [\n                                    \"childs_room_1\",\n                                    \"closet_4\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_9\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.9854320883750916,\n                                  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\"expected_file_hash\": \"3c0b5e23c7f8c9c4405608fa1087efa2\"\n                            }\n                        },\n                        \"swimming_pool_vnvmkx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"swimming_pool_vnvmkx_0\",\n                                \"category\": \"swimming_pool\",\n                                \"model\": \"vnvmkx\",\n                                \"scale\": [\n                                    0.9999980926513672,\n                                    1.0000009536743164,\n                                    1.0000349283218384\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                            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                }\n                        },\n                        \"top_cabinet_lkxmne_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_lkxmne_2\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": \"lkxmne\",\n                                \"scale\": [\n                                    0.9998805522918701,\n                                    1.000040054321289,\n                                    1.0000317096710205\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                      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0.9996886849403381\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"df7148d1eecd303ed12d78054a1cd6d1\"\n                            }\n                        },\n                        \"wall_mounted_light_jhpygl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_jhpygl_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"jhpygl\",\n                             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                    }\n                        },\n                        \"wall_mounted_light_yylrlu_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_1\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\"\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_2\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\"\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_3\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n       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                      \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\"\n                            }\n                        },\n                        \"wall_mounted_tv_leeqgt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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                     \"expected_file_hash\": \"f114a366da290418bf0ecab0a37cd8fc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_akntsr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_akntsr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"akntsr\",\n                                \"scale\": [\n                                    0.9997666478157043,\n                                    1.0000017881393433,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"72531b959dc77bfb73f467da9a4171a7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_anepvh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_anepvh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"anepvh\",\n                                \"scale\": [\n                                    0.9999486804008484,\n                                    1.000133752822876,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ee59fa3bfcca87a21c61537722e091bb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_axkjhh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_axkjhh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"axkjhh\",\n                                \"scale\": [\n                                    1.0000401735305786,\n                                    0.9999582171440125,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"96503b6a723c2cd7019f512e6d298c90\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_babjhv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_babjhv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"babjhv\",\n                                \"scale\": [\n                                    0.9998753070831299,\n                                    0.9999241232872009,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e63842a6e56a31f1d617c8e3a2d9dabd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_baibaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_baibaz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"baibaz\",\n                                \"scale\": [\n                                    1.0000454187393188,\n                                    1.0000240802764893,\n                                    0.9999918937683105\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9b1227cafcd491fd9ee8ab8e97756b9f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_bpbucg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bpbucg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bpbucg\",\n                                \"scale\": [\n                                    0.9998854398727417,\n                                    0.9999871253967285,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"dd90d7e91fb21465c4f556b05d1603e0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_bqocyc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bqocyc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bqocyc\",\n                                \"scale\": [\n                                    0.9998852014541626,\n                                    1.0000405311584473,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"62b1b6c63c549257897578d856342d87\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_btcoak_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_btcoak_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"btcoak\",\n                                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\"model\": \"chsrxr\",\n                                \"scale\": [\n                                    0.9999439120292664,\n                                    1.000038981437683,\n                                    1.0000029802322388\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"5477ad11646f63a6c279c6ab150169d9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_chtiea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_chtiea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"chtiea\",\n                                \"scale\": [\n                                    1.0002912282943726,\n                                    0.9999908804893494,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"492683cd3f6f28686e2889614dac76c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cjxcfc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cnqnew_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cnqnew\",\n                                \"scale\": [\n                                    1.0000557899475098,\n                                    1.0002148151397705,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d3258eab8d551aba28a9ee8b51360738\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_dhsptd_0\": {\n                            \"class_module\": 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{\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dmdnmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dmdnmr\",\n                                \"scale\": [\n                                    1.0000286102294922,\n                                    0.9999963045120239,\n                                    0.9999678730964661\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9af97d00962f863dbe89537b4cd5194a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_duatwe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_duatwe_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"duatwe\",\n                                \"scale\": [\n                                    1.0000064373016357,\n                                    0.9996722340583801,\n                                    1.0001468658447266\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2b24ad38a73bf6c989f58d3442afcd72\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_duepvi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_duepvi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"duepvi\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    0.9998845458030701,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fd44579bc2412659790ede22ae3f5a26\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_esuxme_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_esuxme_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"esuxme\",\n                                \"scale\": [\n                                    1.0001020431518555,\n                                    1.0000150203704834,\n                                    1.0000441074371338\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"36c02cbeae814d6f06fdab82fde9362e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_evgaml_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_evgaml_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"evgaml\",\n                                \"scale\": [\n                                    1.0001057386398315,\n                                    0.9999967813491821,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"81c6b5c2d9bb69d4307df03c7bf8fbf3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fdxtnx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fdxtnx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fdxtnx\",\n                                \"scale\": [\n                                    0.999995768070221,\n                                    0.9998922348022461,\n                                    0.9998988509178162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3b9394cc62a797d6e72d377abc84eb7d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ffeqfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ffeqfb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ffeqfb\",\n                                \"scale\": [\n                                    1.000000238418579,\n                                    1.0001003742218018,\n                                    1.0000234842300415\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8468573a0c0efdd0d6b0d4f299c979e8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fglkmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fglkmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fglkmr\",\n                                \"scale\": [\n                                    0.9999951124191284,\n                                    1.0000271797180176,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9107a6e2cdc12fa39876f5901f76f442\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fkmigx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fkmigx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fkmigx\",\n                                \"scale\": [\n                                    0.9999145865440369,\n                                    1.0000003576278687,\n                                    0.9999576807022095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cf395fc0aa326ffa44f6b86e49c33da4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_frgwwc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_frgwwc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"frgwwc\",\n                                \"scale\": [\n                                    1.0000039339065552,\n                                    1.0000317096710205,\n                                    1.0000046491622925\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"86cfd0171907e7be2bd389df5d50e3b9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fuiqpw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fuiqpw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fuiqpw\",\n                                \"scale\": [\n                                    0.9999467730522156,\n                                    1.000038743019104,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d0896aba5322ad78088de26aad682484\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fvckzc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fvckzc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fvckzc\",\n                                \"scale\": [\n                                    0.9998689293861389,\n                                    0.9999626278877258,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"366122c87b60e8d73329bea949462b50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fxeanq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fxeanq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fxeanq\",\n                                \"scale\": [\n                                    0.9999138712882996,\n                                    0.999982476234436,\n                                    1.0000100135803223\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"51d2424ee7297ba15ebe8a6298445de9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fxofyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fxofyj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fxofyj\",\n                                \"scale\": [\n                                    1.0000901222229004,\n                                    0.9999547004699707,\n                                    0.9999491572380066\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"27fb159fdd8fa8fafb7ad9209368df48\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fyjrnv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fyjrnv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fyjrnv\",\n                                \"scale\": [\n                                    0.999866783618927,\n                                    0.9999337792396545,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"24b4f8a4121e24e37580bd5855520f13\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ggtriw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ggtriw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ggtriw\",\n                                \"scale\": [\n                                    1.0001455545425415,\n                                    0.9999977946281433,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fa80baaadf7bf7f3e9d807082fb42367\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gjrlnv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gjrlnv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gjrlnv\",\n                                \"scale\": [\n                                    0.9999542236328125,\n                                    1.000038743019104,\n                                    1.0000239610671997\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7508a533e6735b38373cfe46dc91f4ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkmbnp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkmbnp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkmbnp\",\n                                \"scale\": [\n                                    0.9999883770942688,\n                                    1.0000717639923096,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"03aafa408e5b97e10d988877b2b0b7cb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkmwvy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkmwvy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkmwvy\",\n                                \"scale\": [\n                                    1.0000468492507935,\n                                    0.9999639987945557,\n                                    0.9999344944953918\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ee732d7a95f1c83ee57a9044b9e2e2b9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkwemu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkwemu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkwemu\",\n                                \"scale\": [\n                                    0.9997715950012207,\n                                    0.9999929666519165,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6ed5f5c783d36924c6b68e191fc27244\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gmwqcf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gmwqcf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gmwqcf\",\n                                \"scale\": [\n                                    0.9999575018882751,\n                                    1.0000061988830566,\n                                    1.0005370378494263\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a78266944e7d32b9d062607b28143a2c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gpfsgj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gpfsgj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gpfsgj\",\n                                \"scale\": [\n                                    0.999993085861206,\n                                    1.0000206232070923,\n                                    0.9999555349349976\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"38c25e2fdaa879d94e1e0f71317b27c5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_grbaxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_grbaxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"grbaxo\",\n                                \"scale\": [\n                                    0.9998166561126709,\n                                    0.9999743700027466,\n                                    0.9999679923057556\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cc8f8282ca7986d8b59d49dea7fecaa3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gupuvk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gupuvk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gupuvk\",\n                                \"scale\": [\n                                    0.9999587535858154,\n                                    1.000302791595459,\n                                    1.0000627040863037\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b2136b725f567e6307ea8436ff20e4bf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_guxxwh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_guxxwh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"guxxwh\",\n                                \"scale\": [\n                                    0.9998859167098999,\n                                    1.0000396966934204,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0899d28676cc8b7f9a6ea2a11ce9f67c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hajmoj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hajmoj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hajmoj\",\n                                \"scale\": [\n                                    1.000004768371582,\n                                    0.9999983310699463,\n                                    0.9999830722808838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"bb538a88805a4cd63976d4b918aff4e6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hbacbx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hbacbx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hbacbx\",\n                                \"scale\": [\n                                    1.0000141859054565,\n                                    1.000041127204895,\n                                    1.0000261068344116\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"39ee95a560a06ea1e357a8cff8a58120\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hczqhb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hczqhb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hczqhb\",\n                                \"scale\": [\n                                    1.0000282526016235,\n                                    0.999974250793457,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3ad447b6d13fc55da48ea17b28679ec9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hfxeuh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hfxeuh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hfxeuh\",\n                                \"scale\": [\n                                    0.9997124075889587,\n                                    0.9999848008155823,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7604afa1a38cd7ff0d1095f0373e5317\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hgaazx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hgaazx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hgaazx\",\n                                \"scale\": [\n                                    0.9999676942825317,\n                                    0.9998993277549744,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"80c9e610d9946456ba24615a72273e46\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hhbfdf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hhbfdf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hhbfdf\",\n                                \"scale\": [\n                                    1.000022292137146,\n                                    0.9999868273735046,\n                                    0.9999457001686096\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9960886844249e083693960659d27b9b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hoyudj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hoyudj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hoyudj\",\n                                \"scale\": [\n                                    1.000164270401001,\n                                    0.9999976754188538,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1c62cac2ec7678d6fccb52c50ce1f371\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hqkpgu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hqkpgu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hqkpgu\",\n                                \"scale\": [\n                                    1.000036597251892,\n                                    0.9997795820236206,\n                                    1.000002384185791\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1e1dfd76fb90a257ab488afa768b9ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_htpoqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_htpoqj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"htpoqj\",\n                                \"scale\": [\n                                    1.0000275373458862,\n                                    1.000287413597107,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"725c81c7b6a082a0f843e2065b5d6210\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hwzmyf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hwzmyf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hwzmyf\",\n                                \"scale\": [\n                                    1.0001691579818726,\n                                    1.0000174045562744,\n                                    1.0000296831130981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a8141365919ab57ba229bcee5576d6d8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hzepkq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hzepkq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hzepkq\",\n                                \"scale\": [\n                                    0.9999510049819946,\n                                    1.0000250339508057,\n                                    1.0000377893447876\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"10c5b4dd10d4847c59e303cae4030781\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hzhlyw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hzhlyw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hzhlyw\",\n                                \"scale\": [\n                                    1.0000052452087402,\n                                    0.9999136924743652,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"406c5f180d4be6e726f3e519aac09218\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ipoatq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ipoatq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ipoatq\",\n                                \"scale\": [\n                                    0.9999895095825195,\n                                    0.9999748468399048,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9524088e62530e5bd8aa66f24a066be2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_isnclr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_isnclr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"isnclr\",\n                                \"scale\": [\n                                    0.9999971985816956,\n                                    0.9999990463256836,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"84fd79ea13745314a88a63aa64c34b56\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ivezzr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ivezzr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ivezzr\",\n                                \"scale\": [\n                                    0.999926745891571,\n                                    1.000006914138794,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f0a34e7b4723af0869106ed0eb108066\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_izcwsg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_izcwsg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"izcwsg\",\n                                \"scale\": [\n                                    0.9998259544372559,\n                                    1.0001044273376465,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e972cc4715d7958a302887137f758c0a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jbwydo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jbwydo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jbwydo\",\n                                \"scale\": [\n                                    0.9999164342880249,\n                                    1.0001364946365356,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ce775fa8e46eaf353af5d78cabe6b4f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jshqhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jshqhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jshqhr\",\n                                \"scale\": [\n                                    1.0000842809677124,\n                                    1.0000399351119995,\n                                    0.9999491572380066\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9805d60e2b8222dc7daf2c2bb8973ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jxctiw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jxctiw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jxctiw\",\n                                \"scale\": [\n                                    1.0003010034561157,\n                                    0.9999635815620422,\n                                    1.0000308752059937\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"891db01abb2fbf36c15289cfedc300a5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_khkkca_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_khkkca_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"khkkca\",\n                                \"scale\": [\n                                    0.9999955892562866,\n                                    0.9997677803039551,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a74ec553a652e9d7d5b718a230983971\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_kkltnz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_kkltnz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"kkltnz\",\n                                \"scale\": [\n                                    0.9999747276306152,\n                                    1.0001676082611084,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b9764b000c7e78a039f14b35a0e5123c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_knhryu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_knhryu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"knhryu\",\n                                \"scale\": [\n                                    0.9999251961708069,\n                                    0.9999673366546631,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"673b6a8f97f4fe9c3f785581afc4d5c6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ktvxpa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ktvxpa_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ktvxpa\",\n                                \"scale\": [\n                                    1.0000466108322144,\n                                    1.000028133392334,\n                                    1.0000613927841187\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7eb94ce67345cc5f24e070cd9eb436d8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lbxvwa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lbxvwa_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lbxvwa\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000089406967163,\n                                    1.0000019073486328\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3e9954ea345d1f7d46af1abc19707c87\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lmjkkp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lmjkkp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lmjkkp\",\n                                \"scale\": [\n                                    0.9999988079071045,\n                                    0.9998951554298401,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8b8043d382af6ad5ed8dfd4c02178b48\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ltqrqp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ltqrqp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ltqrqp\",\n                                \"scale\": [\n                                    1.0001306533813477,\n                                    0.9999893307685852,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f2e5ea72a37ddb2f569474e8d1beb0e9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lveewk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lveewk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lveewk\",\n                                \"scale\": [\n                                    0.9999539852142334,\n                                    0.9998413920402527,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8eabb4f1a54f560b979ca631ebf8baff\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lxqjnd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lxqjnd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lxqjnd\",\n                                \"scale\": [\n                                    1.0001026391983032,\n                                    0.9999812841415405,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"06a955dbe7d2c2c51bd289ede3f42f37\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lzkdkf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lzkdkf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lzkdkf\",\n                                \"scale\": [\n                                    1.0000964403152466,\n                                    0.9999716877937317,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b18cacf16971dd784c2f5675be580928\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mgwnwy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgwnwy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgwnwy\",\n                                \"scale\": [\n                                    0.9999656677246094,\n                                    1.0001095533370972,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3051fe46dfab985bd2583932cf66add5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mianco_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mianco_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mianco\",\n                                \"scale\": [\n                                    1.0000030994415283,\n                                    0.9998830556869507,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6409d5aac1db60adc7068f56a98d4925\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mxhvpj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mxhvpj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mxhvpj\",\n                                \"scale\": [\n                                    0.9999787211418152,\n                                    1.0001676082611084,\n                                    1.0000613927841187\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"567e4e9bd6742e449f5bea6f52038f97\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nfmhed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nfmhed_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nfmhed\",\n                                \"scale\": [\n                                    0.9999906420707703,\n                                    1.0001713037490845,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2d2ff9742ad450d478dde5d95b69bb80\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nhvigl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nhvigl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nhvigl\",\n                                \"scale\": [\n                                    1.0002909898757935,\n                                    0.9999896883964539,\n                                    1.0000035762786865\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8f4aa6726788b96bf03ea511469ca953\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_noclci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_noclci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"noclci\",\n                                \"scale\": [\n                                    1.0002578496932983,\n                                    0.9999694228172302,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7a1d4083f573696b12042db81cfad4bf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nuaoac_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nuaoac_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nuaoac\",\n                                \"scale\": [\n                                    1.000181794166565,\n                                    0.9999966621398926,\n                                    1.0000261068344116\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0003a9502ffc9a44fdf051531590c768\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oehfxy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oehfxy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oehfxy\",\n                                \"scale\": [\n                                    1.000117301940918,\n                                    1.0000636577606201,\n                                    0.9999576807022095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6229160fc14651a9f11e8a46e9a1388d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_olxjsy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_olxjsy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"olxjsy\",\n                                \"scale\": [\n                                    1.0000041723251343,\n                                    0.9997128248214722,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d6f821741d95f3a6c9304f92f5fc5d08\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_olywna_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_olywna_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"olywna\",\n                                \"scale\": [\n                                    0.9999077916145325,\n                                    1.0000104904174805,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8a942cd9259129d8d4e57af2f874f82e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ondmvj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ondmvj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ondmvj\",\n                                \"scale\": [\n                                    1.0001270771026611,\n                                    1.0000394582748413,\n                                    0.9999598860740662\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cf91063b27fd6f6c2a20f159933dbfe8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_onwdhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_onwdhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"onwdhr\",\n                                \"scale\": [\n                                    0.999975860118866,\n                                    0.9998258948326111,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c2f5579862555918caa5c4d26cd049c4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ooixcz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ooixcz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ooixcz\",\n                                \"scale\": [\n                                    1.0000063180923462,\n                                    1.0000216960906982,\n                                    0.9999969005584717\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8931d85797f87d0ca51e2426c7880326\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oyhdlq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oyhdlq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oyhdlq\",\n                                \"scale\": [\n                                    0.9998031258583069,\n                                    1.0000176429748535,\n                                    1.0000320672988892\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e8cc47abcd54dace7edeeb38394d15ab\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_paognv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_paognv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"paognv\",\n                                \"scale\": [\n                                    1.000030517578125,\n                                    1.0002267360687256,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4cc966d4f08349625bd7f3ca18484aef\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pdahqy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pdahqy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pdahqy\",\n                                \"scale\": [\n                                    0.9997052550315857,\n                                    1.0000066757202148,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"43c0b40dbff0643af8cfedc5f92b056a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pofjys_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pofjys_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pofjys\",\n                                \"scale\": [\n                                    1.0000216960906982,\n                                    1.000051498413086,\n                                    1.0000982284545898\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"68837f5ac4fefeb053999be090ea4ed0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pozods_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pozods_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pozods\",\n                                \"scale\": [\n                                    1.0000250339508057,\n                                    1.0000290870666504,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bdd4740e5986b5d30af5fff1767f80d5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pwjyds_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pwjyds_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pwjyds\",\n                                \"scale\": [\n                                    1.000086784362793,\n                                    0.9999912977218628,\n                                    0.9999852776527405\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a0824cac071c024f207e47ccfb7ac396\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qlnqyd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qlnqyd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qlnqyd\",\n                                \"scale\": [\n                                    1.0002201795578003,\n                                    1.0000241994857788,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f5ac66235ef027b2a13902dfea5d74a8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qpkfgi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qpkfgi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qpkfgi\",\n                                \"scale\": [\n                                    1.0001020431518555,\n                                    1.0000150203704834,\n                                    0.9999968409538269\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"dee82f803bcbfa17517d5fe8d04143ec\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qpxhxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qpxhxd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qpxhxd\",\n                                \"scale\": [\n                                    1.0000958442687988,\n                                    0.9999675750732422,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"5f6547cba435a5e4783f9ac99c180634\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qsvtbs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qsvtbs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qsvtbs\",\n                                \"scale\": [\n                                    1.000019907951355,\n                                    1.0001133680343628,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"501b59527a184496cea65db8523fe842\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qzwuwo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qzwuwo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qzwuwo\",\n                                \"scale\": [\n                                    1.0000032186508179,\n                                    0.9999549388885498,\n                                    1.000033974647522\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7bc0aa5cd7be5459dbdc22194f61bb61\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rdcvhx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rdcvhx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rdcvhx\",\n                                \"scale\": [\n                                    0.9998269081115723,\n                                    0.999972403049469,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"200060273e5ec27a175a1f8b2d8a2558\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rfpiin_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rfpiin_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rfpiin\",\n                                \"scale\": [\n                                    0.9998872876167297,\n                                    0.9998480081558228,\n                                    1.0000982284545898\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"78aae178e47827a17d8eeef44f2faa89\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rogorx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rogorx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rogorx\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    0.9997554421424866,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9e59638361151cb381a141cf7c7b76b9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_sgqckc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_sgqckc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"sgqckc\",\n                                \"scale\": [\n                                    1.00001859664917,\n                                    1.0001447200775146,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a6717a115efe1c9b8a587418dc4703bc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_skoxkp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_skoxkp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"skoxkp\",\n                                \"scale\": [\n                                    0.9999924898147583,\n                                    1.0000261068344116,\n                                    0.9999475479125977\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a241c675555338c7b67f5857a486889b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_snssjy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_snssjy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"snssjy\",\n                                \"scale\": [\n                                    0.9999773502349854,\n                                    1.0001850128173828,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0e079af31d2fcc0649e429cfcc265da2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_somuet_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_somuet_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"somuet\",\n                                \"scale\": [\n                                    1.000002384185791,\n                                    1.0000072717666626,\n                                    1.000004768371582\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"expected_file_hash\": \"23aa1dd90db138e86ea6a81b933dfd31\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_soubdp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_soubdp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"soubdp\",\n                                \"scale\": [\n                                    0.9998795390129089,\n                                    1.000030517578125,\n                                    1.0000603199005127\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a79565fbeb3096b3bcffc3f465833a04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tcizfi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tcizfi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tcizfi\",\n                                \"scale\": [\n                                    1.0000131130218506,\n                                    1.0001007318496704,\n                                    0.9999462962150574\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"75da7d97fa08862731825d414fff34f6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tdzxzv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tdzxzv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tdzxzv\",\n                                \"scale\": [\n                                    0.999958336353302,\n                                    1.000003457069397,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b2d3b397bb8e73572e203a41d5e063ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_thipzw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_thipzw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"thipzw\",\n                                \"scale\": [\n                                    1.000144362449646,\n                                    0.9999874234199524,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f1652309c5675e12099448c42f246b23\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tlcifm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tlcifm_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tlcifm\",\n                                \"scale\": [\n                                    0.9999516606330872,\n                                    0.9999920129776001,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"acd76a72e12f34dfd8b2188395783a6b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tvjrao_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tvjrao_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tvjrao\",\n                                \"scale\": [\n                                    1.0000044107437134,\n                                    0.9997362494468689,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1d113b2f1166f2a11c8e7e280e1b5834\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tyjlww_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tyjlww_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tyjlww\",\n                                \"scale\": [\n                                    0.999956488609314,\n                                    1.0001850128173828,\n                                    0.9999752640724182\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"676de304599f95421be37abedf02dfb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ubgakb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ubgakb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ubgakb\",\n                                \"scale\": [\n                                    0.9999848008155823,\n                                    1.0,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"41212fd074369e0a4025775c24c833c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ubscrh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ubscrh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ubscrh\",\n                                \"scale\": [\n                                    1.0000135898590088,\n                                    0.9998775124549866,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9221770c576094379840d89799d5ce7d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_udgvuj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_udgvuj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"udgvuj\",\n                                \"scale\": [\n                                    0.9998785257339478,\n                                    0.9998557567596436,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4e277ddc9f07bd76b0a5471754c17869\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_udqkcs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_udqkcs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"udqkcs\",\n                                \"scale\": [\n                                    0.9999690055847168,\n                                    0.9999529719352722,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"35806e68ee15064a3769cfc729ac3a3e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uplnmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uplnmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uplnmr\",\n                                \"scale\": [\n                                    1.0001013278961182,\n                                    0.9999964237213135,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0b17866659cd01fd4a0e20d05d9d7ea0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_urngpl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_urngpl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"urngpl\",\n                                \"scale\": [\n                                    0.9999960660934448,\n                                    1.0001499652862549,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0f87c3e4ef2d0e85b110f1f2ad4924f5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uubhfj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uubhfj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uubhfj\",\n                                \"scale\": [\n                                    0.9999725222587585,\n                                    0.9998858571052551,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": 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                    \"expected_file_hash\": \"bf1058fd19b5ed6ebc777a3191de8381\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uvgxro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uvgxro_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uvgxro\",\n                                \"scale\": [\n                                    1.0002046823501587,\n                                    1.000001311302185,\n                                    0.9999594688415527\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4b71fb277cb8a29dd1e2d93b0b0468a2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uxcfbp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uxcfbp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uxcfbp\",\n                                \"scale\": [\n                                    1.0000423192977905,\n                                    0.9998830556869507,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"efd75340071552b755b0435ac75ba5a3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uxgkxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uxgkxd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uxgkxd\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    0.9999704957008362,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"67ffee9d78208ca1676b2abac170551d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uzxqqb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uzxqqb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uzxqqb\",\n                                \"scale\": [\n                                    0.999995768070221,\n                                    1.0001778602600098,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8d90b08abd843b5d1d81754c1503360d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vcftmx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vcftmx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vcftmx\",\n                                \"scale\": [\n                                    1.0000114440917969,\n                                    1.0001753568649292,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4357a4a2486598714769f21d93f3eb4b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vcgulk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vcgulk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vcgulk\",\n                                \"scale\": [\n                                    1.000012755393982,\n                                    1.0000059604644775,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c36f245f4ce0114e8840558266936fc0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vdywfg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vdywfg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vdywfg\",\n                                \"scale\": [\n                                    0.999976634979248,\n                                    1.0002204179763794,\n                                    1.0000320672988892\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c957fbf1c39a9663e580205244f213e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vfibix_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vfibix_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vfibix\",\n                                \"scale\": [\n                                    1.0000523328781128,\n                                    1.0000444650650024,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a621d4d3a362cb5b09f3b4bb5b6d28fc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vmsoas_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vmsoas_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vmsoas\",\n                                \"scale\": [\n                                    1.0000299215316772,\n                                    1.0000975131988525,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b6a6936fa0668ebbc73da82e30e4d8bd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vpuhwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vpuhwn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vpuhwn\",\n                                \"scale\": [\n                                    0.99983149766922,\n                                    1.0000014305114746,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"34d6f85aaa51c44e1e695482865a9725\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wbjwyy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wbjwyy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wbjwyy\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.9999871253967285,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6003670dcf8a013b4f1d24e7d6d67bdf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_1\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_2\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_3\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_4\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_5\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_6\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wrodjv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wrodjv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wrodjv\",\n                                \"scale\": [\n                                    1.0002094507217407,\n                                    1.0000132322311401,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4dea63879e6171f3084843e7eb7502a4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wtpbpe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wtpbpe_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wtpbpe\",\n                                \"scale\": [\n                                    0.99996417760849,\n                                    1.0002048015594482,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e08806c70330f7bb93dc18542747f490\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wveiea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wveiea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wveiea\",\n                                \"scale\": [\n                                    1.0000367164611816,\n                                    1.0000665187835693,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0759dbef4385cd6f4e763d518339a069\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xbotyv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xbotyv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xbotyv\",\n                                \"scale\": [\n                                    0.999990701675415,\n                                    0.9999972581863403,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a7af5e29aceeadd78a7f60fc479890d8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xjxddw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xjxddw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xjxddw\",\n                                \"scale\": [\n                                    1.000271201133728,\n                                    1.0000120401382446,\n                                    1.0000308752059937\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cdfc62bc4869fa9b1af3c27bdbdf216f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xnutie_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xnutie_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xnutie\",\n                                \"scale\": [\n                                    0.9999076724052429,\n                                    0.9999979138374329,\n                                    0.9999707937240601\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c183a812a1eb3b661d23e1983c76511f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ybcyqk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ybcyqk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ybcyqk\",\n                                \"scale\": [\n                                    1.0002689361572266,\n                                    1.0000149011611938,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bd4ae787ba10b4535634dc240df8bf37\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zfhsih_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zfhsih_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zfhsih\",\n                                \"scale\": [\n                                    1.0000901222229004,\n                                    0.9999537467956543,\n                                    1.0000230073928833\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": 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},\n                                \"non_kin\": {}\n                            },\n                            \"shelf_amyper_8\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        19.946971893310547,\n                                        7.466673851013184,\n                                        1.1924750804901123\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.9999992251396179,\n                                        0.0012719199294224381\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"shelf_amyper_9\": {\n                    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1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_akntsr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.2542939186096191,\n                                        -0.4896777272224426,\n                                        1.5257943868637085\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                            \"walls_lveewk_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.2745878994464874,\n                                        2.3863847255706787,\n                                        2.882432460784912\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_lxqjnd_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                             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},\n                                \"non_kin\": {}\n                            },\n                            \"walls_thipzw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        19.717018127441406,\n                                        20.73876190185547,\n                                        1.552005410194397\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_tlcifm_0\": {\n                                \"is_asleep\": 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 0.0,\n                                        -0.7080055475234985,\n                                        0.7062068581581116\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_wjlqlb_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        13.544175148010254,\n                                        6.1913161277771,\n                                        1.5721783638000488\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.7080055475234985,\n                                        0.7062068581581116\n                               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   \"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                            \"baseball_cap_189\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        24.462139129638672,\n                                        0.8935599327087402,\n    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                                      }\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                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   [\n                                                    -1.788139229574881e-06,\n                                                    -1.9669530956889503e-05\n                                                ],\n                                                [\n                                                    -0.00015481456648558378,\n                                                    0.0001243374717887491\n                                                ],\n                                                [\n                                                    -6.139784818515182e-05,\n                                                    9.218301784130745e-06\n                                                ],\n                                                [\n                                                    -4.515051477937959e-05,\n                                                    3.710388773470186e-05\n                                                ],\n                                                [\n                                                    4.515051477937959e-05,\n                                                    -3.710388773470186e-05\n                                                ]\n                                            ],\n                                            \"current_idx\": 0,\n                                            \"fully_filled\": true\n                                        }\n                                    },\n                                    \"arm_right\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n    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  ],\n                                                [\n                                                    0.00010296324762748554,\n                                                    0.00011017218639608473\n                                                ],\n                                                [\n                                                    -0.00015397158858831972,\n                                                    0.00028407815261743963\n                                                ],\n                                                [\n                                                    -3.9786096749594435e-05,\n                                                    4.1574236092856154e-05\n                                                ],\n                                                [\n                                                    3.9786096749594435e-05,\n                                                    -2.9057262509013526e-05\n                                                ]\n                                            ],\n                                            \"current_idx\": 0,\n                                            \"fully_filled\": true\n                                        }\n                                    }\n                                },\n                                \"non_kin\": {},\n                                \"ag_obj_constraint_params\": {\n                                    \"left\": {},\n                                    \"right\": {}\n                                }\n                            }\n                        }\n                    }\n                }\n            },\n            \"trav_map_resolution\": 0.1,\n            \"default_erosion_radius\": 0.0,\n            \"trav_map_with_objects\": true,\n            \"num_waypoints\": 10,\n            \"waypoint_resolution\": 0.2,\n            \"load_room_types\": null,\n            \"load_room_instances\": [\n         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                   ],\n                    \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bottom_cabinet_rhdbzv_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_rhdbzv_1\",\n                    \"category\": \"bottom_cabinet\",\n                    \"model\": \"rhdbzv\",\n                    \"scale\": [\n                        0.8492847084999084,\n                        0.4163443148136139,\n                        0.9043539762496948\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"entryway_0\"\n                    ],\n                    \"expected_file_hash\": 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\"args\": {\n                    \"name\": \"bush_lfyqkj_5\",\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_pjhpwk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_0\",\n                    \"category\": \"bush\",\n                   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\"args\": {\n                    \"name\": \"bush_xsqlhv_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"xsqlhv\",\n                    \"scale\": [\n                        1.0000061988830566,\n                        0.9999860525131226,\n                        1.0000078678131104\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\",\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                   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\"coffee_table_wgtaip_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"coffee_table_wgtaip_0\",\n                    \"category\": \"coffee_table\",\n                    \"model\": \"wgtaip\",\n                    \"scale\": [\n                        0.9999980330467224,\n                        1.0000022649765015,\n                        0.9999971985816956\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"7e9bc9acd85bd29391ffaa63deb9b89b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"eames_chair_ubmrms_0\": {\n                \"class_module\": 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\"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_lsaxch_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_lsaxch_2\",\n                    \"category\": \"ottoman\",\n                    \"model\": \"lsaxch\",\n                    \"scale\": [\n                        1.0000507831573486,\n                        0.999936580657959,\n                        1.0001606941223145\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                  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\"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_lsaxch_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_lsaxch_4\",\n                    \"category\": \"ottoman\",\n                    \"model\": \"lsaxch\",\n                    \"scale\": [\n                        1.0000507831573486,\n                        0.999936580657959,\n                        1.0001606941223145\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_wkmbra_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_wkmbra_0\",\n                    \"category\": \"ottoman\",\n                    \"model\": \"wkmbra\",\n                    \"scale\": [\n                        1.0000680685043335,\n                        0.9999892115592957,\n                        0.99988853931427\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"entryway_0\"\n                    ],\n                    \"expected_file_hash\": \"c315177b40b3986a408bd3aa80ddfb67\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_bjwskl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n     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1.0000044107437134\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_lligdl_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_lligdl_2\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"lligdl\",\n                    \"scale\": [\n                        0.9999939799308777,\n                        1.000012755393982,\n                        1.0000044107437134\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_lligdl_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_lligdl_3\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"lligdl\",\n                    \"scale\": [\n                        0.9999939799308777,\n                        1.000012755393982,\n                        1.0000044107437134\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_0\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": 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\"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_4\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_5\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"boulder_vxbkjq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"boulder_vxbkjq_0\",\n                    \"category\": \"boulder\",\n                    \"model\": \"vxbkjq\",\n                    \"scale\": [\n                        1.000017523765564,\n                        0.9999582171440125,\n                        1.0000255107879639\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"e13a1339a4c624aa68e45ea4c86e2953\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_apkslx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_apkslx_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"apkslx\",\n                    \"scale\": [\n                        1.0000032186508179,\n                        0.9999992251396179,\n                        1.0000026226043701\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"b6ae83f57c787c5dbd2aa073ace1b1ae\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_awbqsa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_awbqsa_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"awbqsa\",\n                    \"scale\": [\n                        1.0000066757202148,\n                        0.9999920129776001,\n                        1.0000675916671753\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"92b843e892cedcb936baebe66eac1f33\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_frqekm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_frqekm_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"frqekm\",\n                    \"scale\": [\n                        1.0000094175338745,\n                        1.0000001192092896,\n                        0.999937891960144\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": 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\"b7dd9235290845971b23ebb7e1a83641\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_ibxzsn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_ibxzsn_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"ibxzsn\",\n                    \"scale\": [\n                        1.0000120401382446,\n                        1.0000014305114746,\n                        0.9997040629386902\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_1\"\n                    ],\n                    \"expected_file_hash\": \"b703cea128fe865e9a86194dea28930f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_iskjpi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_iskjpi_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"iskjpi\",\n                    \"scale\": [\n                        0.9999969601631165,\n                        0.9999968409538269,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_1\"\n                    ],\n                    \"expected_file_hash\": \"34f7fb141fa21250508f97b9ddded2a4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_jjyrdh_0\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"ceilings_khkogf_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"khkogf\",\n                    \"scale\": [\n                        0.9999940395355225,\n                        0.9999963045120239,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"8a50ad9b2b6fdf95ebbb258aa13d0855\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_kxjvpr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_kxjvpr_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"kxjvpr\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        1.0000051259994507,\n                        1.0003376007080078\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"2c55352da0bd29c833a0043f772d0719\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_nsysju_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_nsysju_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"nsysju\",\n                    \"scale\": [\n                        1.0000066757202148,\n                        1.0000131130218506,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_0\"\n                    ],\n                    \"expected_file_hash\": \"98e9d6a2292ac5fa4e3aaa1643df5ab2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_qdlnli_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_qdlnli_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"qdlnli\",\n                    \"scale\": [\n                        1.000005841255188,\n                        1.0000149011611938,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_1\"\n                    ],\n                    \"expected_file_hash\": \"bf8fcf7d53f4085a0d47428d5462571e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_qenicw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_qenicw_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"qenicw\",\n                    \"scale\": [\n                        0.9999836683273315,\n                        0.9999991059303284,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n          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\"9cc00c03181d8a273ba2afb116ef5eba\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_tbhzzb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_tbhzzb_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"tbhzzb\",\n                    \"scale\": [\n                        0.9999912977218628,\n                        1.0000078678131104,\n                        0.9995139241218567\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"utility_room_0\"\n                    ],\n                    \"expected_file_hash\": \"43de6d1771691f13e96124dcaff302d5\",\n                    \"bddl_object_scope\": null\n                }\n  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             \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_tjwkje_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"tjwkje\",\n                    \"scale\": [\n                        0.9999982714653015,\n                        0.999995231628418,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"6ecbd143b8d2620ca6f52edae9a23434\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_wbbkuv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_wbbkuv_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"wbbkuv\",\n                    \"scale\": [\n                        1.0000121593475342,\n                        0.9999978542327881,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\"\n                    ],\n                    \"expected_file_hash\": \"ceab944ad9d1ec4ea556be3f12c1186d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"countertop_fjkase_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"countertop_fjkase_0\",\n                    \"category\": \"countertop\",\n                    \"model\": 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           1.0000085830688477,\n                        0.9999606609344482\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"utility_room_0\"\n                    ],\n                    \"expected_file_hash\": \"526ef657973e1d5f136349741aaf188c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"countertop_sjxber_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"countertop_sjxber_0\",\n                    \"category\": \"countertop\",\n                    \"model\": \"sjxber\",\n                    \"scale\": [\n                        1.0000237226486206,\n                        1.000012755393982,\n                        0.9999550580978394\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"utility_room_0\"\n                    ],\n                    \"expected_file_hash\": \"40cd413884bbd69ad143a52a75e98362\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_crtrpa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_crtrpa_0\",\n                    \"category\": \"door\",\n                    \"model\": \"crtrpa\",\n                    \"scale\": [\n                        1.0000602006912231,\n                        1.0000410079956055,\n                        0.9999841451644897\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": 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\"b27b81835bd1bcc3a92976511bb16086\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"driveway_hmbdky_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"driveway_hmbdky_0\",\n                    \"category\": \"driveway\",\n                    \"model\": \"hmbdky\",\n                    \"scale\": [\n                        1.0000028610229492,\n                        1.0000004768371582,\n                        0.9998961091041565\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"624e0298a4cf1665dc5d88879139ba31\",\n                    \"bddl_object_scope\": null\n                }\n        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\"args\": {\n                    \"name\": \"floors_fpnxmg_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"fpnxmg\",\n                    \"scale\": [\n                        0.999976396560669,\n                        1.0000089406967163,\n                        0.9999312162399292\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_4\"\n                    ],\n                    \"expected_file_hash\": \"295817b6268b44b24e3da19c2686e71a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_glwobe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_glwobe_0\",\n                    \"category\": \"floors\",\n          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              \"args\": {\n                    \"name\": \"floors_vmamhf_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"vmamhf\",\n                    \"scale\": [\n                        1.0000053644180298,\n                        1.0000113248825073,\n                        0.9999330043792725\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\"\n                    ],\n                    \"expected_file_hash\": \"489028e664d381656f3fd50e9f1fdebc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_wkdxrr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_wkdxrr_0\",\n                    \"category\": 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0.9999967217445374,\n                        1.0000355243682861,\n                        0.9999294877052307\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_3\"\n                    ],\n                    \"expected_file_hash\": \"2e85d67047cf2bbef8d9e26d6c1c1658\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_yibjol_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_yibjol_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"yibjol\",\n                    \"scale\": [\n                        1.0000231266021729,\n                        0.9999783039093018,\n                        0.9999303221702576\n           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\"in_rooms\": [\n                        \"closet_0\"\n                    ],\n                    \"expected_file_hash\": \"b50a54bcb1aa8fc45a464d98ab4b943b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"lawn_wwoqjw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_wwoqjw_0\",\n                    \"category\": \"lawn\",\n                    \"model\": \"wwoqjw\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        0.9999285936355591\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"1cd4240cdd133735efa4c44b73ecfdf8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"mirror_ndvgah_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mirror_ndvgah_0\",\n                    \"category\": \"mirror\",\n                    \"model\": \"ndvgah\",\n                    \"scale\": [\n                        0.9933433532714844,\n                        1.0000016689300537,\n                        1.0000172853469849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"entryway_0\"\n                    ],\n                    \"expected_file_hash\": \"d9ba95ab0c4b73c686916cc0ffe0e2cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"openable_window_eyvzfu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"openable_window_eyvzfu_0\",\n                    \"category\": \"openable_window\",\n                    \"model\": \"eyvzfu\",\n                    \"scale\": [\n                        0.999903678894043,\n                        0.9999958872795105,\n                        1.0000061988830566\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"7e34a94e1d82b76b0ae1e4a36c66c936\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_fqlxxd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_fqlxxd_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"fqlxxd\",\n                    \"scale\": [\n                        1.0003372430801392,\n                        1.000027060508728,\n                        0.9999690651893616\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"cfbbad3016272295997c405db2b00eb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_0\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_1\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_2\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_3\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_4\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_5\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_6\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_7\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_8\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_roemfr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_roemfr_0\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"roemfr\",\n                    \"scale\": [\n                        1.0001897811889648,\n                        0.9999998211860657,\n                        1.000010371208191\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"00d612f1a1cb38a11c6b79e584de8222\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_roemfr_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_roemfr_1\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"roemfr\",\n                    \"scale\": [\n                        1.0001897811889648,\n                        0.9999998211860657,\n                        1.000010371208191\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"00d612f1a1cb38a11c6b79e584de8222\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_wvfgad_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_wvfgad_0\",\n                    \"category\": \"rail_fence\",\n                    \"model\": 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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fd9e148e519f1028aa308d9df652be80\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"roof_jqqtaq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"roof_jqqtaq_0\",\n                    \"category\": \"roof\",\n                    \"model\": \"jqqtaq\",\n                    \"scale\": [\n                        1.0000015497207642,\n                        1.0000005960464478,\n                        0.999950647354126\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": 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}\n            },\n            \"shelf_amyper_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_0\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_1\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_10\",\n            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      \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_5\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_6\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_7\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_8\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_9\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"showerhead_vuswbv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"showerhead_vuswbv_0\",\n                    \"category\": \"showerhead\",\n                    \"model\": \"vuswbv\",\n                    \"scale\": [\n                        1.0000189542770386,\n                        1.000184416770935,\n                        0.9999966621398926\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"40f822e4cc6c86f07b2b79ff42032cce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_lrvyvc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_lrvyvc_0\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"lrvyvc\",\n                    \"scale\": [\n                        0.9999122023582458,\n                        1.000001072883606,\n                        1.0000181198120117\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"bd352e7c99702cfb43a99090af6ff865\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_0\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0000165700912476,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_1\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0632356405258179,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_1\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_10\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.001861810684204,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\",\n                        \"bathroom_1\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_11\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.088773250579834,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_12\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_12\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.2041987180709839,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_2\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.828336775302887,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\",\n                        \"closet_3\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_3\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.9631685018539429,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_0\",\n                        \"closet_2\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_4\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.748390257358551,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\",\n                        \"closet_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_5\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0907971858978271,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_6\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.099666953086853,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_2\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_7\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.115620493888855,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"utility_room_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_8\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.7850596904754639,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_1\",\n                        \"closet_4\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_9\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.9854320883750916,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\",\n                        \"closet_1\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"swimming_pool_vnvmkx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"swimming_pool_vnvmkx_0\",\n                    \"category\": \"swimming_pool\",\n                    \"model\": \"vnvmkx\",\n                    \"scale\": [\n     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         1.0000871419906616\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"utility_room_0\"\n                    ],\n                    \"expected_file_hash\": \"2d9c186f78dbddd37e6a4d6f0ef1dcf5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_aescmv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_aescmv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"aescmv\",\n                    \"scale\": [\n                        0.9999967813491821,\n                        0.9998936653137207,\n                        1.0000377893447876\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f80192366bb5f121c924853d14207467\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ahpkeh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ahpkeh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ahpkeh\",\n                    \"scale\": [\n                        1.0000147819519043,\n                        0.9997085332870483,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f114a366da290418bf0ecab0a37cd8fc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_akntsr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_akntsr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"akntsr\",\n                    \"scale\": [\n                        0.9997666478157043,\n                        1.0000017881393433,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"72531b959dc77bfb73f467da9a4171a7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_anepvh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_anepvh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"anepvh\",\n                    \"scale\": [\n                        0.9999486804008484,\n                        1.000133752822876,\n                        1.0000284910202026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ee59fa3bfcca87a21c61537722e091bb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_axkjhh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_axkjhh_0\",\n                    \"category\": \"walls\",\n              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1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e63842a6e56a31f1d617c8e3a2d9dabd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_baibaz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_baibaz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"baibaz\",\n                    \"scale\": [\n                        1.0000454187393188,\n                        1.0000240802764893,\n                        0.9999918937683105\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n         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             \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cnlgjq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cnlgjq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cnlgjq\",\n                    \"scale\": [\n                        1.0000011920928955,\n                        1.000003457069397,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4a47d00d9c99bd87994be1de5ace9339\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cnqnew_0\": {\n                \"class_module\": 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                \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2b24ad38a73bf6c989f58d3442afcd72\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_duepvi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_duepvi_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"duepvi\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9998845458030701,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fd44579bc2412659790ede22ae3f5a26\",\n                    \"bddl_object_scope\": null\n              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\"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_evgaml_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"evgaml\",\n                    \"scale\": [\n                        1.0001057386398315,\n                        0.9999967813491821,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"81c6b5c2d9bb69d4307df03c7bf8fbf3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fdxtnx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fdxtnx_0\",\n                    \"category\": \"walls\",\n                    \"model\": 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                 ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8468573a0c0efdd0d6b0d4f299c979e8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fglkmr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fglkmr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fglkmr\",\n                    \"scale\": [\n                        0.9999951124191284,\n                        1.0000271797180176,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9107a6e2cdc12fa39876f5901f76f442\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fkmigx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fkmigx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fkmigx\",\n                    \"scale\": [\n                        0.9999145865440369,\n                        1.0000003576278687,\n                        0.9999576807022095\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cf395fc0aa326ffa44f6b86e49c33da4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_frgwwc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_frgwwc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"frgwwc\",\n                    \"scale\": [\n                        1.0000039339065552,\n                        1.0000317096710205,\n                        1.0000046491622925\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"86cfd0171907e7be2bd389df5d50e3b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fuiqpw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fuiqpw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fuiqpw\",\n                    \"scale\": [\n                        0.9999467730522156,\n                        1.000038743019104,\n                        0.9999513030052185\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d0896aba5322ad78088de26aad682484\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fvckzc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fvckzc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fvckzc\",\n                    \"scale\": [\n                        0.9998689293861389,\n                        0.9999626278877258,\n                        0.9999513030052185\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"366122c87b60e8d73329bea949462b50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fxeanq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fxeanq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fxeanq\",\n                    \"scale\": [\n                        0.9999138712882996,\n                        0.999982476234436,\n                        1.0000100135803223\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"51d2424ee7297ba15ebe8a6298445de9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fxofyj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fxofyj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fxofyj\",\n                    \"scale\": [\n                        1.0000901222229004,\n                        0.9999547004699707,\n                        0.9999491572380066\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"27fb159fdd8fa8fafb7ad9209368df48\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fyjrnv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fyjrnv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fyjrnv\",\n                    \"scale\": [\n                        0.999866783618927,\n                        0.9999337792396545,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"24b4f8a4121e24e37580bd5855520f13\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ggtriw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ggtriw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ggtriw\",\n                    \"scale\": [\n                        1.0001455545425415,\n                        0.9999977946281433,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fa80baaadf7bf7f3e9d807082fb42367\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gjrlnv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gjrlnv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gjrlnv\",\n                    \"scale\": [\n                        0.9999542236328125,\n                        1.000038743019104,\n                        1.0000239610671997\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7508a533e6735b38373cfe46dc91f4ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkmbnp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkmbnp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkmbnp\",\n                    \"scale\": [\n                        0.9999883770942688,\n                        1.0000717639923096,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"03aafa408e5b97e10d988877b2b0b7cb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkmwvy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkmwvy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkmwvy\",\n                    \"scale\": [\n                        1.0000468492507935,\n                        0.9999639987945557,\n                        0.9999344944953918\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ee732d7a95f1c83ee57a9044b9e2e2b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkwemu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkwemu_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkwemu\",\n                    \"scale\": [\n                        0.9997715950012207,\n                        0.9999929666519165,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6ed5f5c783d36924c6b68e191fc27244\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gmwqcf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gmwqcf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gmwqcf\",\n                    \"scale\": [\n                        0.9999575018882751,\n                        1.0000061988830566,\n                        1.0005370378494263\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a78266944e7d32b9d062607b28143a2c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gpfsgj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gpfsgj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gpfsgj\",\n                    \"scale\": [\n                        0.999993085861206,\n                        1.0000206232070923,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"38c25e2fdaa879d94e1e0f71317b27c5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_grbaxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_grbaxo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"grbaxo\",\n                    \"scale\": [\n            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              \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hajmoj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hajmoj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hajmoj\",\n                    \"scale\": [\n                        1.000004768371582,\n                        0.9999983310699463,\n                        0.9999830722808838\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"bb538a88805a4cd63976d4b918aff4e6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hbacbx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hbacbx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hbacbx\",\n                    \"scale\": [\n                        1.0000141859054565,\n                        1.000041127204895,\n                        1.0000261068344116\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"39ee95a560a06ea1e357a8cff8a58120\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hczqhb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n  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true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80c9e610d9946456ba24615a72273e46\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hhbfdf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hhbfdf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hhbfdf\",\n                    \"scale\": [\n                        1.000022292137146,\n                        0.9999868273735046,\n                        0.9999457001686096\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9960886844249e083693960659d27b9b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hoyudj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hoyudj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hoyudj\",\n                    \"scale\": [\n                        1.000164270401001,\n                        0.9999976754188538,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1c62cac2ec7678d6fccb52c50ce1f371\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hqkpgu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hqkpgu_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hqkpgu\",\n                    \"scale\": [\n                        1.000036597251892,\n                        0.9997795820236206,\n                        1.000002384185791\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1e1dfd76fb90a257ab488afa768b9ea1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_htpoqj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_htpoqj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"htpoqj\",\n                    \"scale\": [\n                        1.0000275373458862,\n                        1.000287413597107,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"725c81c7b6a082a0f843e2065b5d6210\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hwzmyf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hwzmyf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hwzmyf\",\n                    \"scale\": [\n                        1.0001691579818726,\n                        1.0000174045562744,\n                        1.0000296831130981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a8141365919ab57ba229bcee5576d6d8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hzepkq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hzepkq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hzepkq\",\n                    \"scale\": [\n                        0.9999510049819946,\n                        1.0000250339508057,\n                        1.0000377893447876\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"10c5b4dd10d4847c59e303cae4030781\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hzhlyw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hzhlyw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hzhlyw\",\n                    \"scale\": [\n                        1.0000052452087402,\n                        0.9999136924743652,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"406c5f180d4be6e726f3e519aac09218\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ipoatq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ipoatq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ipoatq\",\n                    \"scale\": [\n                        0.9999895095825195,\n                        0.9999748468399048,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9524088e62530e5bd8aa66f24a066be2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_isnclr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_isnclr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"isnclr\",\n                    \"scale\": [\n                        0.9999971985816956,\n                        0.9999990463256836,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"84fd79ea13745314a88a63aa64c34b56\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ivezzr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ivezzr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ivezzr\",\n                    \"scale\": [\n                        0.999926745891571,\n                        1.000006914138794,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f0a34e7b4723af0869106ed0eb108066\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_izcwsg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_izcwsg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"izcwsg\",\n                    \"scale\": [\n                        0.9998259544372559,\n                        1.0001044273376465,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e972cc4715d7958a302887137f758c0a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jbwydo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jbwydo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jbwydo\",\n                    \"scale\": [\n                        0.9999164342880249,\n                        1.0001364946365356,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ce775fa8e46eaf353af5d78cabe6b4f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jshqhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jshqhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jshqhr\",\n                    \"scale\": [\n                        1.0000842809677124,\n                        1.0000399351119995,\n                        0.9999491572380066\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9805d60e2b8222dc7daf2c2bb8973ec0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jxctiw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jxctiw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jxctiw\",\n                    \"scale\": [\n                        1.0003010034561157,\n                        0.9999635815620422,\n                        1.0000308752059937\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"891db01abb2fbf36c15289cfedc300a5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_khkkca_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_khkkca_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"khkkca\",\n                    \"scale\": [\n                        0.9999955892562866,\n                        0.9997677803039551,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a74ec553a652e9d7d5b718a230983971\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_kkltnz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_kkltnz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"kkltnz\",\n                    \"scale\": [\n                        0.9999747276306152,\n                        1.0001676082611084,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b9764b000c7e78a039f14b35a0e5123c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_knhryu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_knhryu_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"knhryu\",\n                    \"scale\": [\n                        0.9999251961708069,\n                        0.9999673366546631,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"673b6a8f97f4fe9c3f785581afc4d5c6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ktvxpa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ktvxpa_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ktvxpa\",\n                    \"scale\": [\n                        1.0000466108322144,\n                        1.000028133392334,\n                        1.0000613927841187\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7eb94ce67345cc5f24e070cd9eb436d8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lbxvwa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lbxvwa_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lbxvwa\",\n                    \"scale\": [\n                        1.0,\n                        1.0000089406967163,\n                        1.0000019073486328\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3e9954ea345d1f7d46af1abc19707c87\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lmjkkp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lmjkkp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lmjkkp\",\n                    \"scale\": [\n                        0.9999988079071045,\n                        0.9998951554298401,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8b8043d382af6ad5ed8dfd4c02178b48\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ltqrqp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ltqrqp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ltqrqp\",\n                    \"scale\": [\n                        1.0001306533813477,\n                        0.9999893307685852,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f2e5ea72a37ddb2f569474e8d1beb0e9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lveewk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lveewk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lveewk\",\n                    \"scale\": [\n                        0.9999539852142334,\n                        0.9998413920402527,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8eabb4f1a54f560b979ca631ebf8baff\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lxqjnd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lxqjnd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lxqjnd\",\n                    \"scale\": [\n                        1.0001026391983032,\n                        0.9999812841415405,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"06a955dbe7d2c2c51bd289ede3f42f37\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lzkdkf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lzkdkf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lzkdkf\",\n                    \"scale\": [\n                        1.0000964403152466,\n                        0.9999716877937317,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b18cacf16971dd784c2f5675be580928\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgwnwy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgwnwy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgwnwy\",\n                    \"scale\": [\n                        0.9999656677246094,\n                        1.0001095533370972,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3051fe46dfab985bd2583932cf66add5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mianco_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mianco_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mianco\",\n                    \"scale\": [\n                        1.0000030994415283,\n                        0.9998830556869507,\n                        1.0000033378601074\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6409d5aac1db60adc7068f56a98d4925\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mxhvpj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mxhvpj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mxhvpj\",\n                    \"scale\": [\n            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true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2d2ff9742ad450d478dde5d95b69bb80\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_nhvigl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_nhvigl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"nhvigl\",\n                    \"scale\": [\n                        1.0002909898757935,\n                        0.9999896883964539,\n                        1.0000035762786865\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8f4aa6726788b96bf03ea511469ca953\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_noclci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_noclci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"noclci\",\n                    \"scale\": [\n                        1.0002578496932983,\n                        0.9999694228172302,\n                        1.0000033378601074\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7a1d4083f573696b12042db81cfad4bf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_nuaoac_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_nuaoac_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"nuaoac\",\n                    \"scale\": [\n                        1.000181794166565,\n                        0.9999966621398926,\n                        1.0000261068344116\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0003a9502ffc9a44fdf051531590c768\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oehfxy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oehfxy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oehfxy\",\n                    \"scale\": [\n                        1.000117301940918,\n                        1.0000636577606201,\n                        0.9999576807022095\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6229160fc14651a9f11e8a46e9a1388d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_olxjsy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_olxjsy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"olxjsy\",\n                    \"scale\": [\n                        1.0000041723251343,\n                        0.9997128248214722,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d6f821741d95f3a6c9304f92f5fc5d08\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_olywna_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_olywna_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"olywna\",\n                    \"scale\": [\n                        0.9999077916145325,\n                        1.0000104904174805,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n     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  }\n            },\n            \"walls_onwdhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_onwdhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"onwdhr\",\n                    \"scale\": [\n                        0.999975860118866,\n                        0.9998258948326111,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c2f5579862555918caa5c4d26cd049c4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ooixcz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ooixcz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ooixcz\",\n                    \"scale\": [\n                        1.0000063180923462,\n                        1.0000216960906982,\n                        0.9999969005584717\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8931d85797f87d0ca51e2426c7880326\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oyhdlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oyhdlq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oyhdlq\",\n                    \"scale\": [\n                        0.9998031258583069,\n                        1.0000176429748535,\n                        1.0000320672988892\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e8cc47abcd54dace7edeeb38394d15ab\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_paognv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_paognv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"paognv\",\n                    \"scale\": [\n                        1.000030517578125,\n                        1.0002267360687256,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4cc966d4f08349625bd7f3ca18484aef\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pdahqy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pdahqy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pdahqy\",\n                    \"scale\": [\n                        0.9997052550315857,\n                        1.0000066757202148,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"43c0b40dbff0643af8cfedc5f92b056a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pofjys_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pofjys_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pofjys\",\n                    \"scale\": [\n                        1.0000216960906982,\n                        1.000051498413086,\n                        1.0000982284545898\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"68837f5ac4fefeb053999be090ea4ed0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pozods_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pozods_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pozods\",\n                    \"scale\": [\n                        1.0000250339508057,\n                        1.0000290870666504,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bdd4740e5986b5d30af5fff1767f80d5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pwjyds_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pwjyds_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pwjyds\",\n                    \"scale\": [\n                        1.000086784362793,\n                        0.9999912977218628,\n                        0.9999852776527405\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a0824cac071c024f207e47ccfb7ac396\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qlnqyd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qlnqyd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qlnqyd\",\n                    \"scale\": [\n                        1.0002201795578003,\n                        1.0000241994857788,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f5ac66235ef027b2a13902dfea5d74a8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qpkfgi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qpkfgi_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qpkfgi\",\n                    \"scale\": [\n                        1.0001020431518555,\n                        1.0000150203704834,\n                        0.9999968409538269\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"dee82f803bcbfa17517d5fe8d04143ec\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qpxhxd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qpxhxd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qpxhxd\",\n                    \"scale\": [\n                        1.0000958442687988,\n                        0.9999675750732422,\n                        0.9999513030052185\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"5f6547cba435a5e4783f9ac99c180634\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qsvtbs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qsvtbs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qsvtbs\",\n                    \"scale\": [\n                        1.000019907951355,\n                        1.0001133680343628,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"501b59527a184496cea65db8523fe842\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qzwuwo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qzwuwo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qzwuwo\",\n                    \"scale\": [\n                        1.0000032186508179,\n                        0.9999549388885498,\n                        1.000033974647522\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7bc0aa5cd7be5459dbdc22194f61bb61\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rdcvhx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rdcvhx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rdcvhx\",\n                    \"scale\": [\n                        0.9998269081115723,\n                        0.999972403049469,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"200060273e5ec27a175a1f8b2d8a2558\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rfpiin_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rfpiin_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rfpiin\",\n                    \"scale\": [\n                        0.9998872876167297,\n                        0.9998480081558228,\n                        1.0000982284545898\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"78aae178e47827a17d8eeef44f2faa89\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rogorx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rogorx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rogorx\",\n                    \"scale\": [\n                        1.0000121593475342,\n                        0.9997554421424866,\n                        1.0000357627868652\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9e59638361151cb381a141cf7c7b76b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_sgqckc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_sgqckc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"sgqckc\",\n                    \"scale\": [\n                        1.00001859664917,\n                        1.0001447200775146,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a6717a115efe1c9b8a587418dc4703bc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_skoxkp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_skoxkp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"skoxkp\",\n                    \"scale\": [\n                        0.9999924898147583,\n                        1.0000261068344116,\n                        0.9999475479125977\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a241c675555338c7b67f5857a486889b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_snssjy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_snssjy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"snssjy\",\n                    \"scale\": [\n                        0.9999773502349854,\n                        1.0001850128173828,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0e079af31d2fcc0649e429cfcc265da2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_somuet_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_somuet_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"somuet\",\n                    \"scale\": [\n                        1.000002384185791,\n                        1.0000072717666626,\n                        1.000004768371582\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\"\n                    ],\n                    \"expected_file_hash\": \"23aa1dd90db138e86ea6a81b933dfd31\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_soubdp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_soubdp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"soubdp\",\n                    \"scale\": [\n                        0.9998795390129089,\n                        1.000030517578125,\n                        1.0000603199005127\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a79565fbeb3096b3bcffc3f465833a04\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tcizfi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tcizfi_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tcizfi\",\n                    \"scale\": [\n                        1.0000131130218506,\n                        1.0001007318496704,\n                        0.9999462962150574\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"75da7d97fa08862731825d414fff34f6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tdzxzv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tdzxzv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tdzxzv\",\n                    \"scale\": [\n                        0.999958336353302,\n                        1.000003457069397,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b2d3b397bb8e73572e203a41d5e063ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_thipzw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_thipzw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"thipzw\",\n                    \"scale\": [\n                        1.000144362449646,\n                        0.9999874234199524,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f1652309c5675e12099448c42f246b23\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tlcifm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tlcifm_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tlcifm\",\n                    \"scale\": [\n                        0.9999516606330872,\n                        0.9999920129776001,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"acd76a72e12f34dfd8b2188395783a6b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tvjrao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tvjrao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tvjrao\",\n                    \"scale\": [\n                        1.0000044107437134,\n                        0.9997362494468689,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1d113b2f1166f2a11c8e7e280e1b5834\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tyjlww_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tyjlww_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tyjlww\",\n                    \"scale\": [\n                        0.999956488609314,\n                        1.0001850128173828,\n                        0.9999752640724182\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"676de304599f95421be37abedf02dfb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ubgakb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ubgakb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ubgakb\",\n                    \"scale\": [\n                        0.9999848008155823,\n                        1.0,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"41212fd074369e0a4025775c24c833c8\",\n                    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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_udgvuj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"udgvuj\",\n                    \"scale\": [\n                        0.9998785257339478,\n                        0.9998557567596436,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4e277ddc9f07bd76b0a5471754c17869\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_udqkcs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_udqkcs_0\",\n                    \"category\": \"walls\",\n             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1.0000444650650024,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a621d4d3a362cb5b09f3b4bb5b6d28fc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vmsoas_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vmsoas_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vmsoas\",\n                    \"scale\": [\n                        1.0000299215316772,\n                        1.0000975131988525,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b6a6936fa0668ebbc73da82e30e4d8bd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vpuhwn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vpuhwn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vpuhwn\",\n                    \"scale\": [\n                        0.99983149766922,\n                        1.0000014305114746,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"34d6f85aaa51c44e1e695482865a9725\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wbjwyy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wbjwyy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wbjwyy\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.9999871253967285,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6003670dcf8a013b4f1d24e7d6d67bdf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_1\",\n                    \"category\": 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0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_3\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_4\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_5\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": 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           \"walls_wrodjv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wrodjv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wrodjv\",\n                    \"scale\": [\n                        1.0002094507217407,\n                        1.0000132322311401,\n                        1.0000284910202026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4dea63879e6171f3084843e7eb7502a4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wtpbpe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wtpbpe_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wtpbpe\",\n                    \"scale\": [\n                        0.99996417760849,\n                        1.0002048015594482,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e08806c70330f7bb93dc18542747f490\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wveiea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wveiea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wveiea\",\n                    \"scale\": 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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a7af5e29aceeadd78a7f60fc479890d8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xjxddw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xjxddw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xjxddw\",\n                    \"scale\": [\n                        1.000271201133728,\n                        1.0000120401382446,\n                        1.0000308752059937\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ybcyqk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ybcyqk\",\n                    \"scale\": [\n                        1.0002689361572266,\n                        1.0000149011611938,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bd4ae787ba10b4535634dc240df8bf37\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zfhsih_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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0.9999418258666992,\n                        1.00014328956604,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bc98b25d967db14c19a246e9520bbb4f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zqexop_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zqexop_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zqexop\",\n                    \"scale\": [\n                        0.9999964833259583,\n                        0.999962329864502,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"44d8b22376fb10122b86bfb5aaa108f6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zufhrv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zufhrv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zufhrv\",\n                    \"scale\": [\n                        1.0000169277191162,\n                        1.0000722408294678,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8e266a33536dadd2b83d79f0f6b0f4ea\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zxlndv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zxlndv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zxlndv\",\n                    \"scale\": [\n                        0.9999450445175171,\n                        1.0000429153442383,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9448a0bb2b54ef1707e73c3a9a4e7142\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zxyurx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zxyurx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zxyurx\",\n                    \"scale\": [\n                        0.9999738335609436,\n                        1.0000016689300537,\n                        1.0000286102294922\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80cb1fe69d53685ae693fff5407c79d5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"washer_ynwamu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"washer_ynwamu_0\",\n                    \"category\": \"washer\",\n                    \"model\": \"ynwamu\",\n                    \"scale\": [\n                        1.0000474452972412,\n                        0.9999510645866394,\n                        1.0000536441802979\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"utility_room_0\"\n                    ],\n                    \"expected_file_hash\": \"506bf58be3399f40ee913a2856598d27\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"baseball_cap_188\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"baseball_cap_188\",\n                    \"category\": \"baseball_cap\",\n                    \"model\": \"ogptul\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"utility_room_0\"\n                    ],\n                    \"expected_file_hash\": \"ac261430c1e9be4a816687707139ac43\"\n                }\n            },\n            \"baseball_cap_189\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"baseball_cap_189\",\n                    \"category\": \"baseball_cap\",\n                    \"model\": \"ogptul\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"utility_room_0\"\n                    ],\n                    \"expected_file_hash\": \"ac261430c1e9be4a816687707139ac43\"\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": 10213,
+    "num_samples": 10213,
+    "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",
+        "baseball_cap.n.01_1_real",
+        "baseball_cap.n.01_1_pos",
+        "baseball_cap.n.01_1_ori_cos",
+        "baseball_cap.n.01_1_ori_sin",
+        "baseball_cap.n.01_1_in_gripper_left",
+        "baseball_cap.n.01_1_in_gripper_right",
+        "baseball_cap.n.01_2_real",
+        "baseball_cap.n.01_2_pos",
+        "baseball_cap.n.01_2_ori_cos",
+        "baseball_cap.n.01_2_ori_sin",
+        "baseball_cap.n.01_2_in_gripper_left",
+        "baseball_cap.n.01_2_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",
+        "washer.n.03_1_real",
+        "washer.n.03_1_pos",
+        "washer.n.03_1_ori_cos",
+        "washer.n.03_1_ori_sin",
+        "washer.n.03_1_in_gripper_left",
+        "washer.n.03_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"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/recreational_vehicle_doiucd_0/windshield3/visuals\", \"3\": \"/World/scene_0/bottom_cabinet_rhdbzv_0/left_drawer/visuals\", \"4\": \"/World/scene_0/bottom_cabinet_rhdbzv_0/right_drawer/visuals\", \"5\": \"/World/scene_0/bush_kyghri_2/base_link/visuals\", \"6\": \"/World/scene_0/bush_yhjhta_1/base_link/visuals\", \"7\": \"/World/scene_0/recreational_vehicle_doiucd_0/door3/visuals\", \"8\": \"/World/scene_0/bush_ebuvur_1/base_link/visuals\", \"9\": \"/World/scene_0/bush_pjhpwk_3/base_link/visuals\", \"10\": \"/World/scene_0/bottom_cabinet_no_top_gjrero_4/link_1/visuals\", \"11\": \"/World/scene_0/bush_lfyqkj_3/base_link/visuals\", \"12\": \"/World/scene_0/recreational_vehicle_doiucd_0/door5/visuals\", \"13\": \"/World/scene_0/recreational_vehicle_doiucd_0/windshield9/visuals\", \"14\": \"/World/scene_0/walls_wjlqlb_1/base_link/visuals\", \"15\": \"/World/scene_0/walls_zxyurx_0/base_link/visuals\", \"16\": \"/World/scene_0/bottom_cabinet_no_top_gjrero_2/link_1/visuals\", \"17\": \"/World/scene_0/walls_xjxddw_0/base_link/visuals\", \"18\": \"/World/scene_0/bottom_cabinet_no_top_gjrero_3/link_1/visuals\", \"19\": \"/World/scene_0/bottom_cabinet_no_top_gjrero_0/link_1/visuals\", \"20\": \"/World/scene_0/baseball_cap_189/base_link/visuals\", \"21\": \"/World/scene_0/baseball_cap_188/base_link/visuals\", \"22\": \"/World/scene_0/washer_ynwamu_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"23\": \"/World/scene_0/washer_ynwamu_0/door/visuals\", \"24\": \"/World/scene_0/washer_ynwamu_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_zxlndv_0/base_link/visuals\", \"26\": \"/World/scene_0/walls_zufhrv_0/base_link/visuals\", \"27\": \"/World/scene_0/walls_zqexop_0/base_link/visuals\", \"28\": \"/World/scene_0/walls_zpjckn_0/base_link/visuals\", \"29\": \"/World/scene_0/walls_zfhsih_0/base_link/visuals\", \"30\": \"/World/scene_0/walls_ybcyqk_0/base_link/visuals\", \"31\": \"/World/scene_0/walls_xnutie_0/base_link/visuals\", \"32\": \"/World/scene_0/walls_xbotyv_0/base_link/visuals\", \"33\": \"/World/scene_0/walls_wveiea_0/base_link/visuals\", \"34\": \"/World/scene_0/walls_wtpbpe_0/base_link/visuals\", \"35\": \"/World/scene_0/walls_wrodjv_0/base_link/visuals\", \"36\": \"/World/scene_0/walls_wjlqlb_6/base_link/visuals\", \"37\": \"/World/scene_0/walls_wjlqlb_5/base_link/visuals\", \"38\": \"/World/scene_0/walls_wjlqlb_4/base_link/visuals\", \"39\": \"/World/scene_0/walls_wjlqlb_3/base_link/visuals\", \"40\": \"/World/scene_0/walls_wjlqlb_2/base_link/visuals\", \"41\": \"/World/scene_0/walls_wjlqlb_0/base_link/visuals\", \"42\": \"/World/scene_0/walls_wbjwyy_0/base_link/visuals\", \"43\": \"/World/scene_0/walls_vpuhwn_0/base_link/visuals\", \"44\": \"/World/scene_0/walls_vmsoas_0/base_link/visuals\", \"45\": \"/World/scene_0/walls_vfibix_0/base_link/visuals\", \"46\": \"/World/scene_0/walls_vdywfg_0/base_link/visuals\", \"47\": \"/World/scene_0/walls_vcgulk_0/base_link/visuals\", \"48\": \"/World/scene_0/walls_vcftmx_0/base_link/visuals\", \"49\": \"/World/scene_0/walls_uzxqqb_0/base_link/visuals\", \"50\": \"/World/scene_0/walls_uxgkxd_0/base_link/visuals\", \"51\": \"/World/scene_0/walls_uxcfbp_0/base_link/visuals\", \"52\": \"/World/scene_0/walls_uvgxro_0/base_link/visuals\", \"53\": \"/World/scene_0/walls_uuxqzk_0/base_link/visuals\", \"54\": \"/World/scene_0/walls_uubhfj_0/base_link/visuals\", \"55\": \"/World/scene_0/walls_urngpl_0/base_link/visuals\", \"56\": \"/World/scene_0/walls_uplnmr_0/base_link/visuals\", \"57\": \"/World/scene_0/walls_udqkcs_0/base_link/visuals\", \"58\": \"/World/scene_0/walls_udgvuj_0/base_link/visuals\", \"59\": \"/World/scene_0/walls_ubscrh_0/base_link/visuals\", \"60\": \"/World/scene_0/walls_ubgakb_0/base_link/visuals\", \"61\": \"/World/scene_0/walls_tyjlww_0/base_link/visuals\", \"62\": \"/World/scene_0/walls_tvjrao_0/base_link/visuals\", \"63\": \"/World/scene_0/walls_tlcifm_0/base_link/visuals\", \"64\": \"/World/scene_0/walls_thipzw_0/base_link/visuals\", \"65\": \"/World/scene_0/walls_tdzxzv_0/base_link/visuals\", \"66\": \"/World/scene_0/walls_tcizfi_0/base_link/visuals\", \"67\": \"/World/scene_0/walls_soubdp_0/base_link/visuals\", \"68\": \"/World/scene_0/walls_somuet_0/base_link/visuals\", \"69\": \"/World/scene_0/walls_snssjy_0/base_link/visuals\", \"70\": \"/World/scene_0/walls_skoxkp_0/base_link/visuals\", \"71\": \"/World/scene_0/walls_sgqckc_0/base_link/visuals\", \"72\": \"/World/scene_0/walls_rogorx_0/base_link/visuals\", \"73\": \"/World/scene_0/walls_rfpiin_0/base_link/visuals\", \"74\": \"/World/scene_0/walls_rdcvhx_0/base_link/visuals\", \"75\": \"/World/scene_0/walls_qzwuwo_0/base_link/visuals\", \"76\": \"/World/scene_0/walls_qsvtbs_0/base_link/visuals\", \"77\": \"/World/scene_0/walls_qpxhxd_0/base_link/visuals\", \"78\": \"/World/scene_0/walls_qpkfgi_0/base_link/visuals\", \"79\": \"/World/scene_0/walls_pozods_0/base_link/visuals\", \"80\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle0\", \"81\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle1\", \"82\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle2\", \"83\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle3\", \"84\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle4\", \"85\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle5\", \"86\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle6\", \"87\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle7\", \"88\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle8\", \"89\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle9\", \"90\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle10\", \"91\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle11\", \"92\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle12\", \"93\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle13\", \"94\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle14\", \"95\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle15\", \"96\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle16\", \"97\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle17\", \"98\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle18\", \"99\": \"/World/scene_0/baseball_cap_189/base_link/dirtParticle19\", \"100\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle20\", \"101\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle21\", \"102\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle22\", \"103\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle23\", \"104\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle24\", \"105\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle25\", \"106\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle26\", \"107\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle27\", \"108\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle28\", \"109\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle29\", \"110\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle30\", \"111\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle31\", \"112\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle32\", \"113\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle33\", \"114\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle34\", \"115\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle35\", \"116\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle36\", \"117\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle37\", \"118\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle38\", \"119\": \"/World/scene_0/baseball_cap_188/base_link/dirtParticle39\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"122\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"123\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"124\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"125\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"126\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"127\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"128\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"129\": \"/World/scene_0/bottom_cabinet_rhdbzv_0/base_link/visuals\", \"130\": \"/World/scene_0/recreational_vehicle_doiucd_0/windshield2/visuals\", \"131\": \"/World/scene_0/recreational_vehicle_doiucd_0/windshield6/visuals\", 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+        469,
+        470,
+        475,
+        476,
+        477,
+        492,
+        496
+    ]
+}
\ No newline at end of file