diff --git "a/meta/episodes/task-0023/episode_00230180.json" "b/meta/episodes/task-0023/episode_00230180.json"
new file mode 100644--- /dev/null
+++ "b/meta/episodes/task-0023/episode_00230180.json"
@@ -0,0 +1,266 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_boxing_books_up_for_storage_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"book.n.02_1\": \"hardback_55\", \"book.n.02_2\": \"hardback_54\", \"book.n.02_3\": \"hardback_53\", \"book.n.02_4\": \"hardback_52\", \"book.n.02_5\": \"hardback_51\", \"book.n.02_6\": \"hardback_50\", \"bookcase.n.01_1\": \"bookcase_otwukr_3\", \"bookcase.n.01_2\": \"bookcase_otwukr_1\", \"bookcase.n.01_3\": \"bookcase_otwukr_0\", \"bookcase.n.01_4\": \"bookcase_otwukr_2\", \"box.n.01_1\": \"storage_box_49\", \"floor.n.01_1\": \"floors_rfqizg_0\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_double_floor_upper\", \"scene_instance\": \"house_double_floor_upper_task_boxing_books_up_for_storage_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_jhymlr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_jhymlr_0\", \"category\": \"bottom_cabinet\", \"model\": \"jhymlr\", \"scale\": 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0.746334433555603], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [0.00016330881044268608, 2.2880194592289627e-05, -9.655816029408015e-06, -0.0023809808772057295, -0.0005718647153116763, -0.0003620040079113096, 1.0250003337860107, -1.450000286102295, -0.470000296831131, 8.12228861946096e-08, 6.531244594043528e-07, 3.1141914291765715e-07, 7.503955146148655e-08, 1.3795019526696706e-07, 2.1896437374380184e-06, 2.136228431481868e-06, 3.484733213099389e-07, 2.3130039039642725e-07, 9.657566124587902e-07, 5.324665153239039e-07, 3.33018803644336e-08, 5.1302809112030445e-08, 3.981513714279572e-07, 2.477609655215929e-07, 0.0499999113380909, 0.04999999329447746, 0.049999941140413284, 0.049999967217445374], \"joint_vel\": [-3.695105988299474e-06, -3.254359762649983e-05, -6.617607141379267e-06, 0.00013465347001329064, -0.00041048755520023406, 4.428217653185129e-05, -0.0001175710785901174, 0.001020400202833116, 0.0002774472231976688, -0.00011513071513036266, -0.00033762058592401445, -0.0002867317234631628, -0.0007238104590214789, -0.0008056308142840862, -0.003019496565684676, -0.002617472317069769, -5.062951458967291e-05, -9.463338938076049e-05, 0.001074597705155611, 0.0010077508632093668, -0.00013146607670933008, 2.0084458810742944e-05, 0.0016419270541518927, 0.0019471022533252835, -2.3483709810534492e-05, 1.7161506548291072e-05, -4.3682801333488896e-05, 7.362093310803175e-05], \"controllers\": {\"base\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.0, 0.0, 0.0]}}, \"trunk\": {\"goal_is_valid\": true, \"goal\": {\"target\": [1.024999976158142, -1.4500000476837158, -0.4699999988079071, 0.0]}}, \"arm_left\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, \"gripper_left\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.05000000074505806]}, \"vel_filter\": {\"past_samples\": [[-9.96887611108832e-05, 3.576278459149762e-06], [5.224000051384792e-05, 7.773202014504932e-06], [-4.205961158731952e-05, 4.291579534765333e-05], [1.4305113836599048e-05, 1.3411043937594513e-06], [-1.788139229574881e-06, -4.4703480739372026e-07]], \"current_idx\": 0, \"fully_filled\": true}}, \"arm_right\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, \"gripper_right\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.05000000074505806]}, \"vel_filter\": {\"past_samples\": [[-7.599591481266543e-05, 8.940696147874405e-07], [4.1666324250400066e-05, 1.2158960089436732e-05], [-4.8926805902738124e-05, 4.545278352452442e-05], [7.599591754114954e-06, -1.788139229574881e-06], [4.4703480739372026e-07, -8.940696147874405e-07]], \"current_idx\": 0, \"fully_filled\": true}}}, \"non_kin\": {}, \"ag_obj_constraint_params\": {\"left\": {}, \"right\": {}}}}}}}, \"type\": \"InteractiveTraversableScene\", \"scene_model\": \"house_double_floor_upper\", \"load_room_types\": null, \"load_room_instances\": [\"living_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\": [-0.434051513671875, -0.232452392578125, 0.0050048828125], \"orientation\": [0.0008646032656542957, 0.00031546171521767974, -0.6655704379081726, 0.746334433555603], \"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\": \"boxing_books_up_for_storage\", \"activity_definition_id\": 0, \"activity_instance_id\": 0, \"predefined_problem\": null, \"online_object_sampling\": false, \"debug_object_sampling\": false, \"highlight_task_relevant_objects\": false, \"termination_config\": {\"max_steps\": 50000}, \"reward_config\": {\"r_potential\": 1.0}, \"include_obs\": true}, \"wrapper\": {\"type\": null}}",
+    "scene_file": "{\n    \"versions\": {\n        \"omnigibson\": {\n            \"version\": \"3.7.0-alpha\",\n            \"git_hash\": \"8195e923ab104dbf0fd5ced8e7e3673659a2f254\"\n        },\n        \"bddl\": {\n            \"version\": \"3.7.0a0\",\n            \"git_hash\": \"8195e923ab104dbf0fd5ced8e7e3673659a2f254\"\n        },\n        \"og_dataset\": {\n            \"version\": \"3.7.0rc22\"\n        },\n        \"assets\": {\n            \"version\": null,\n            \"git_hash\": \"edec88373641efb1afc2feacea287bd31a51f16a\"\n        }\n    },\n    \"metadata\": {\n        \"task\": {\n            \"inst_to_name\": {\n                \"agent.n.01_1\": \"robot_r1\",\n                \"book.n.02_1\": \"hardback_55\",\n                \"book.n.02_2\": \"hardback_54\",\n                \"book.n.02_3\": \"hardback_53\",\n                \"book.n.02_4\": \"hardback_52\",\n                \"book.n.02_5\": \"hardback_51\",\n                \"book.n.02_6\": \"hardback_50\",\n                \"bookcase.n.01_1\": \"bookcase_otwukr_3\",\n                \"bookcase.n.01_2\": \"bookcase_otwukr_1\",\n                \"bookcase.n.01_3\": \"bookcase_otwukr_0\",\n                \"bookcase.n.01_4\": \"bookcase_otwukr_2\",\n                \"box.n.01_1\": \"storage_box_49\",\n                \"floor.n.01_1\": \"floors_rfqizg_0\"\n            }\n        }\n    },\n    \"state\": {\n        \"pos\": [\n            0.0,\n            0.0,\n            0.0\n        ],\n        \"ori\": [\n            0.0,\n            0.0,\n            0.0,\n            1.0\n        ],\n        \"registry\": {\n            \"system_registry\": {},\n            \"object_registry\": {\n                \"downlight_fisfbn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.09026676416397095,\n                            -2.4358420372009277,\n                            2.4632391929626465\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0000001192092896\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_fisfbn_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.3512401580810547,\n                            -2.4358420372009277,\n                            2.4632391929626465\n                        ],\n           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                   0.0,\n                            0.0,\n                            1.0000001192092896\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"fixed_window_lhzwtz_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.392583847045898,\n                            -1.3970016241073608,\n                            1.1077871322631836\n                        ],\n                        \"ori\": [\n                            -5.197228992927672e-15,\n                            6.883938397095335e-08,\n                            1.0,\n                            -7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"stairs_tikozn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.10555572807788849,\n                            -2.5288288593292236,\n                            -1.0919712781906128\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"door_dlncrt_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.136253595352173,\n                            2.8556718826293945,\n                            1.0276660919189453\n                        ],\n                        \"ori\": [\n                            -0.0004311704251449555,\n                            -0.0004503550590015948,\n                            0.7264786958694458,\n                            0.6871886849403381\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_pevmgl_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.3618602752685547,\n                            3.7988569736480713,\n                            0.8276898264884949\n                        ],\n                        \"ori\": [\n                            -5.075669469079003e-05,\n                            -5.080064875073731e-05,\n                            -0.013736603781580925,\n                            0.9999057054519653\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"armchair_axcwcm_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.8402857780456543,\n                            -2.9386203289031982,\n                            0.4584132432937622\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0000001192092896\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"coffee_table_osroux_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.6846463680267334,\n                            -2.42330002784729,\n                            0.17302249372005463\n                        ],\n                        \"ori\": [\n                            1.443084329366684e-05,\n                            -1.095251354854554e-05,\n                            0.7071078419685364,\n                            -0.7071059346199036\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"table_lamp_lshxmu_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.2360740900039673,\n                            -2.5642683506011963,\n                            1.005190372467041\n                        ],\n                        \"ori\": [\n                            -0.004757702350616455,\n                            0.010782741941511631,\n                            0.7070586085319519,\n                            -0.7070568203926086\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"background_gkemae_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.10513642430305481,\n                            -1.5612900257110596,\n                            -2.0127623081207275\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"bookcase_otwukr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.575839519500732,\n                            -0.6310573816299438,\n                            0.5307912230491638\n                        ],\n                        \"ori\": [\n                            2.250704334016973e-08,\n                            2.2507055774667606e-08,\n                            -0.7071066498756409,\n                            0.70710688829422\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"bookcase_otwukr_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -4.0533223152160645,\n                            -0.6310575604438782,\n                            0.5307912230491638\n                        ],\n                        \"ori\": [\n                            2.250704334016973e-08,\n                            2.2507055774667606e-08,\n                            -0.7071066498756409,\n                            0.70710688829422\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"bookcase_otwukr_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.291658401489258,\n                            -0.6310575008392334,\n                            0.5307912230491638\n                        ],\n                        \"ori\": [\n                            2.250704334016973e-08,\n                            2.2507055774667606e-08,\n                            -0.7071066498756409,\n                            0.70710688829422\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"bookcase_otwukr_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -4.814175605773926,\n                            -0.6310573220252991,\n                            0.5307912230491638\n                        ],\n                        \"ori\": [\n                            2.250704334016973e-08,\n                            2.2507055774667606e-08,\n                            -0.7071066498756409,\n                            0.70710688829422\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"ceilings_gznlyj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.468292713165283,\n                            -2.674513816833496,\n                            2.3836891651153564\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            -7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_laeuzw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.7077958583831787,\n                            -2.1586220264434814,\n                            2.4162521362304688\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            -7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_mbrukp_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -4.461474418640137,\n                 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1.0000274181365967,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"153d94789db39e2f3de4e80a17dc5e9b\"\n                            }\n                        },\n                        \"door_pxhbim_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_0\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n             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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                           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\"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": 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                   \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\"\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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           \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                   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\"category\": \"furniture_sink\",\n                                \"model\": \"ojjqku\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000003576278687,\n                                    0.9999823570251465\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0df1c90ac8a3945852ebb5a3eb0124cb\"\n                            }\n                        },\n                        \"map_fdtxut_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"map_fdtxut_0\",\n                                \"category\": \"map\",\n                                \"model\": \"fdtxut\",\n                                \"scale\": [\n                                    0.9997681379318237,\n                                    0.9999114871025085,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"33b7b78cdfc50191ed893a86ecf2dd33\"\n                            }\n                        },\n                        \"map_hsbtqi_0\": {\n                            \"class_module\": 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                             \"expected_file_hash\": \"0cf318907266e52e1e5642988728be7a\"\n                            }\n                        },\n                        \"painting_eexydp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_eexydp_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"eexydp\",\n                                \"scale\": [\n                                    1.0030890703201294,\n                                    0.9999678134918213,\n                                    1.0000113248825073\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"baaa751fd7222229f37063b68adb644c\"\n                            }\n                        },\n                        \"painting_jfkvxh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_jfkvxh_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"jfkvxh\",\n                                \"scale\": [\n                                    1.001561164855957,\n                                    0.9999836683273315,\n                                    1.0000487565994263\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"072188b0eec005268f16019eefad639b\"\n                            }\n                        },\n                        \"painting_ljabhq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_ljabhq_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"ljabhq\",\n                                \"scale\": [\n                                    1.0005065202713013,\n                                    0.9999780058860779,\n                                    1.0000290870666504\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f60ce30aec25c7dc15ed95a6de858fe7\"\n                            }\n                        },\n                        \"picture_abtgvz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_abtgvz_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"abtgvz\",\n                                \"scale\": [\n                                    1.0004545450210571,\n                                    1.000188946723938,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"de082b8d6f65c0ee981ec473507e3620\"\n                            }\n                        },\n                        \"picture_aicjaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_aicjaq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"aicjaq\",\n                                \"scale\": [\n                                    1.0000500679016113,\n                                    0.9999763369560242,\n                                    1.0017871856689453\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"7e9787220ce6b2b15f7da14a2cef72be\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_aqahkx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    1.0000498294830322,\n                                    1.0017874240875244\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"0e7ad3883512e4e419a7b205bd09517f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_nxqoed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxqoed_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxqoed\",\n                                \"scale\": [\n           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\"category\": \"picture\",\n                                \"model\": \"nzctlq\",\n                                \"scale\": [\n                                    0.9998580813407898,\n                                    0.9999564290046692,\n                                    0.9999911785125732\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e96c4c5e8bb5a569072f3d567a3c42de\"\n                            }\n                        },\n                        \"picture_rypaxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n   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       \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\"\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\"\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"xnuynn\",\n                                \"scale\": [\n                                    1.0000395774841309,\n                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\"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\"\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                      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             }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\"\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                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        \"name\": \"shelf_sapyzl_1\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\"\n                            }\n                        },\n                        \"shower_giialz_0\": {\n                            \"class_module\": 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        }\n                        },\n                        \"showerhead_afoeoa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_afoeoa_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"afoeoa\",\n                                \"scale\": [\n                                    0.999765932559967,\n                                    0.9998961687088013,\n                                    1.000025987625122\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n                                    1.0000375509262085,\n                                    1.0000358819961548,\n                                    0.9999516010284424\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e23887408f7ae8386550346591a88a49\"\n                            }\n                        },\n                        \"towel_rack_qedffr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"towel_rack_qedffr_0\",\n                                \"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_1\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": 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\"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d98c980c798debe0cd5c8aeb439e77b5\"\n                            }\n                        },\n                        \"wall_socket_plssag_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_0\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": 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1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\"\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"boflea\",\n           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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_fisfbn_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_3\",\n                    \"category\": \"downlight\",\n                    \"model\": \"fisfbn\",\n                    \"scale\": [\n                        0.9933567047119141,\n                        0.9989626407623291,\n                        1.3310413360595703\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n               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\"args\": {\n                    \"name\": \"ceilings_laeuzw_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"laeuzw\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        1.000000238418579,\n                        1.0000264644622803\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"15c63ad7417ced281a97483fd8ddd57e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_mbrukp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_mbrukp_0\",\n                    \"category\": 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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fixed_window_etjpqr_2\",\n                    \"category\": \"fixed_window\",\n                    \"model\": \"etjpqr\",\n                    \"scale\": [\n                        0.9994935393333435,\n                        1.0000231266021729,\n                        0.9999651908874512\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_dcxicr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_dcxicr_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"dcxicr\",\n                    \"scale\": [\n                        1.0000115633010864,\n                        0.9999899864196777,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_nlswvt_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_nlswvt_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"nlswvt\",\n                    \"scale\": [\n                        1.0000108480453491,\n                        1.0000033378601074,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_rfqizg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_rfqizg_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"rfqizg\",\n                    \"scale\": [\n                        0.9999974966049194,\n                        1.0000001192092896,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_zrhxwn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_zrhxwn_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"zrhxwn\",\n                    \"scale\": [\n                        1.0000113248825073,\n                        0.9999984502792358,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": 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      },\n            \"picture_jovfqj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_jovfqj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"jovfqj\",\n                    \"scale\": [\n                        0.9999560713768005,\n                        1.0000486373901367,\n                        1.001761794090271\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nxjgqw_0\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"picture_nxqoed_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"nxqoed\",\n                    \"scale\": [\n                        0.9999762177467346,\n                        1.0000498294830322,\n                        1.0017832517623901\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f5ec6d72ecca19eee49a14044e8f73ae\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_trqgni_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_trqgni_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"trqgni\",\n                    \"scale\": [\n                        0.9999762177467346,\n                        1.0000498294830322,\n                        1.0017832517623901\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_1\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_4\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_ukfaaz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_ukfaaz_0\",\n                    \"category\": \"sofa\",\n                    \"model\": \"ukfaaz\",\n                    \"scale\": [\n                        0.9999885559082031,\n                        1.0000011920928955,\n                        0.9999796748161316\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_boflea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_boflea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"boflea\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9999855160713196,\n                        1.0000048875808716\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"42162b735669e99966336e6a03293a9c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_eguptx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ldoefg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ldoefg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ldoefg\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        1.0000122785568237,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"storage_box_49\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"storage_box_49\",\n                    \"category\": \"storage_box\",\n                    \"model\": \"bwbpvg\",\n                    \"scale\": [\n                        2.040940761566162,\n                        1.9936248064041138,\n                        2.094111204147339\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"351cbe404d7671e8c52e6ebd29d40745\"\n                }\n            },\n            \"hardback_50\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hardback_50\",\n                    \"category\": \"hardback\",\n                    \"model\": \"dichmv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"5542fafb4299fbf6a8aef105631d96cf\"\n                }\n            },\n            \"hardback_51\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hardback_51\",\n                    \"category\": \"hardback\",\n                    \"model\": \"poanfs\",\n                    \"scale\": [\n                        0.8999999761581421,\n                        0.8999999761581421,\n                        0.8999999761581421\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"fc6bb97637fedcb9e6e3961c7408e9f4\"\n                }\n            },\n            \"hardback_52\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hardback_52\",\n                    \"category\": \"hardback\",\n                    \"model\": \"znlewl\",\n                    \"scale\": [\n                        0.6999999284744263,\n                        0.6999999284744263,\n                        0.6999999284744263\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"2505515f8790984de5fcb75d8c76c322\"\n                }\n            },\n            \"hardback_53\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hardback_53\",\n                    \"category\": \"hardback\",\n                    \"model\": \"acbrnv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"9a5c424aa837834af97f334e4543aacc\"\n                }\n            },\n            \"hardback_54\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hardback_54\",\n                    \"category\": \"hardback\",\n                    \"model\": \"okcflv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"24bdf3baca93255073a368adbd697d37\"\n                }\n            },\n            \"hardback_55\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hardback_55\",\n                    \"category\": \"hardback\",\n                    \"model\": \"hrxujh\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f13e867184a308a6436f502168c23cfa\"\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": 28730,
+    "num_samples": 28730,
+    "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",
+        "book.n.02_1_real",
+        "book.n.02_1_pos",
+        "book.n.02_1_ori_cos",
+        "book.n.02_1_ori_sin",
+        "book.n.02_1_in_gripper_left",
+        "book.n.02_1_in_gripper_right",
+        "book.n.02_2_real",
+        "book.n.02_2_pos",
+        "book.n.02_2_ori_cos",
+        "book.n.02_2_ori_sin",
+        "book.n.02_2_in_gripper_left",
+        "book.n.02_2_in_gripper_right",
+        "book.n.02_3_real",
+        "book.n.02_3_pos",
+        "book.n.02_3_ori_cos",
+        "book.n.02_3_ori_sin",
+        "book.n.02_3_in_gripper_left",
+        "book.n.02_3_in_gripper_right",
+        "book.n.02_4_real",
+        "book.n.02_4_pos",
+        "book.n.02_4_ori_cos",
+        "book.n.02_4_ori_sin",
+        "book.n.02_4_in_gripper_left",
+        "book.n.02_4_in_gripper_right",
+        "book.n.02_5_real",
+        "book.n.02_5_pos",
+        "book.n.02_5_ori_cos",
+        "book.n.02_5_ori_sin",
+        "book.n.02_5_in_gripper_left",
+        "book.n.02_5_in_gripper_right",
+        "book.n.02_6_real",
+        "book.n.02_6_pos",
+        "book.n.02_6_ori_cos",
+        "book.n.02_6_ori_sin",
+        "book.n.02_6_in_gripper_left",
+        "book.n.02_6_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",
+        "bookcase.n.01_1_real",
+        "bookcase.n.01_1_pos",
+        "bookcase.n.01_1_ori_cos",
+        "bookcase.n.01_1_ori_sin",
+        "bookcase.n.01_1_in_gripper_left",
+        "bookcase.n.01_1_in_gripper_right",
+        "bookcase.n.01_2_real",
+        "bookcase.n.01_2_pos",
+        "bookcase.n.01_2_ori_cos",
+        "bookcase.n.01_2_ori_sin",
+        "bookcase.n.01_2_in_gripper_left",
+        "bookcase.n.01_2_in_gripper_right",
+        "bookcase.n.01_3_real",
+        "bookcase.n.01_3_pos",
+        "bookcase.n.01_3_ori_cos",
+        "bookcase.n.01_3_ori_sin",
+        "bookcase.n.01_3_in_gripper_left",
+        "bookcase.n.01_3_in_gripper_right",
+        "bookcase.n.01_4_real",
+        "bookcase.n.01_4_pos",
+        "bookcase.n.01_4_ori_cos",
+        "bookcase.n.01_4_ori_sin",
+        "bookcase.n.01_4_in_gripper_left",
+        "bookcase.n.01_4_in_gripper_right",
+        "box.n.01_1_real",
+        "box.n.01_1_pos",
+        "box.n.01_1_ori_cos",
+        "box.n.01_1_ori_sin",
+        "box.n.01_1_in_gripper_left",
+        "box.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/hardback_55/base_link/visuals\", \"3\": \"/World/scene_0/hardback_54/base_link/visuals\", \"4\": \"/World/scene_0/hardback_53/base_link/visuals\", \"5\": \"/World/scene_0/hardback_52/base_link/visuals\", \"6\": \"/World/scene_0/hardback_51/base_link/visuals\", \"7\": \"/World/scene_0/hardback_50/base_link/visuals\", \"8\": \"/World/scene_0/storage_box_49/base_link/visuals\", \"9\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/picture_aicjaq_0/base_link/visuals\", \"15\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"16\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"17\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"18\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"19\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"20\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"21\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"22\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"23\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"24\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"25\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"26\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"27\": \"/World/scene_0/downlight_fisfbn_2/base_link/visuals\", \"28\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"29\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"30\": \"/World/scene_0/bookcase_otwukr_0/base_link/visuals\", \"31\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"32\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"33\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"34\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"35\": \"/World/scene_0/picture_jovfqj_0/base_link/visuals\", \"36\": \"/World/scene_0/sofa_ukfaaz_0/base_link/visuals\", \"37\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"42\": 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\ No newline at end of file