diff --git "a/meta/episodes/task-0001/episode_00010020.json" "b/meta/episodes/task-0001/episode_00010020.json"
new file mode 100644--- /dev/null
+++ "b/meta/episodes/task-0001/episode_00010020.json"
@@ -0,0 +1,262 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 30.0, \"rendering_frequency\": 30.0, \"physics_frequency\": 120.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_lower_task_picking_up_trash_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"ashcan.n.01_1\": \"trash_can_116\", \"can__of__soda.n.01_1\": \"can_of_soda_115\", \"can__of__soda.n.01_2\": \"can_of_soda_114\", \"can__of__soda.n.01_3\": \"can_of_soda_113\", \"floor.n.01_1\": \"floors_ulujpr_0\", \"floor.n.01_2\": \"floors_zqjkvm_0\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_double_floor_lower\", \"scene_instance\": \"house_double_floor_lower_task_picking_up_trash_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_qacthv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_qacthv_0\", \"category\": \"bottom_cabinet\", \"model\": \"qacthv\", \"scale\": [1.6584076881408691, 1.6618138551712036, 2.27225399017334], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_0\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_1\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_10\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_10\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_2\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_3\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_4\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_5\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_6\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_7\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_7\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_8\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_8\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_9\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_9\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_frqici_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_frqici_0\", \"category\": \"bush\", \"model\": \"frqici\", \"scale\": [0.3373742699623108, 0.3373841643333435, 0.33737385272979736], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_frqici_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_frqici_1\", \"category\": \"bush\", \"model\": \"frqici\", \"scale\": [0.3373742699623108, 0.3373841643333435, 0.33737385272979736], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_frqici_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_frqici_2\", \"category\": \"bush\", \"model\": \"frqici\", \"scale\": [0.3373742699623108, 0.3373841643333435, 0.33737385272979736], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_frqici_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_frqici_3\", \"category\": \"bush\", \"model\": \"frqici\", \"scale\": [0.3373742699623108, 0.3373841643333435, 0.33737385272979736], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_frqici_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_frqici_4\", \"category\": \"bush\", \"model\": \"frqici\", \"scale\": [0.3373742699623108, 0.3373841643333435, 0.33737385272979736], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kjakgd_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kjakgd_0\", \"category\": \"bush\", \"model\": \"kjakgd\", \"scale\": [0.4627520442008972, 0.46274271607398987, 0.4627504050731659], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kjakgd_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kjakgd_1\", \"category\": \"bush\", \"model\": \"kjakgd\", \"scale\": [0.4627520442008972, 0.46274271607398987, 0.4627504050731659], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_knspbi_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_0\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [0.7110752463340759, 0.7110562920570374, 0.7110764980316162], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_knspbi_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_1\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [0.7110752463340759, 0.7110562920570374, 0.7110764980316162], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_knspbi_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_2\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [0.7110752463340759, 0.7110562920570374, 0.7110764980316162], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_knspbi_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_3\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [0.7110752463340759, 0.7110562920570374, 0.7110764980316162], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_knspbi_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_4\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [0.7110752463340759, 0.7110562920570374, 0.7110764980316162], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_knspbi_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_5\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [0.7110752463340759, 0.7110562920570374, 0.7110764980316162], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kyghri_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_0\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kyghri_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_1\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kyghri_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_2\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kyghri_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_3\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kyghri_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_4\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kyghri_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_5\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kyghri_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_6\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kyghri_7\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_7\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kyghri_8\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_8\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_lfyqkj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_0\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_lfyqkj_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_1\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_lfyqkj_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_2\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_lfyqkj_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_3\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_lfyqkj_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_4\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_lfyqkj_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_5\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_lfyqkj_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_6\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_oedeqi_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_oedeqi_0\", \"category\": \"bush\", \"model\": \"oedeqi\", \"scale\": [0.5401318669319153, 0.5401249527931213, 0.5401372313499451], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_oedeqi_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_oedeqi_1\", \"category\": \"bush\", \"model\": \"oedeqi\", \"scale\": [0.5401318669319153, 0.5401249527931213, 0.5401372313499451], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_oedeqi_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_oedeqi_2\", \"category\": \"bush\", \"model\": \"oedeqi\", \"scale\": [0.5401318669319153, 0.5401249527931213, 0.5401372313499451], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_pjhpwk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_pjhpwk_0\", \"category\": \"bush\", \"model\": \"pjhpwk\", \"scale\": [0.5033133029937744, 0.5033060312271118, 0.503303587436676], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_pjhpwk_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_pjhpwk_1\", \"category\": \"bush\", \"model\": \"pjhpwk\", \"scale\": [0.5033133029937744, 0.5033060312271118, 0.503303587436676], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_pjhpwk_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_pjhpwk_2\", \"category\": \"bush\", \"model\": \"pjhpwk\", \"scale\": [0.5033133029937744, 0.5033060312271118, 0.503303587436676], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_pjhpwk_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_pjhpwk_3\", \"category\": \"bush\", \"model\": \"pjhpwk\", \"scale\": [0.5033133029937744, 0.5033060312271118, 0.503303587436676], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_pjhpwk_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_pjhpwk_4\", \"category\": \"bush\", \"model\": \"pjhpwk\", \"scale\": [0.5033133029937744, 0.5033060312271118, 0.503303587436676], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_yhjhta_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_0\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.5133029222488403, 0.5133182406425476, 0.5133031606674194], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_yhjhta_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_1\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.5133029222488403, 0.5133182406425476, 0.5133031606674194], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_yhjhta_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_2\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.5133029222488403, 0.5133182406425476, 0.5133031606674194], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_yhjhta_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_3\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.5133029222488403, 0.5133182406425476, 0.5133031606674194], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_yhjhta_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_4\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.5133029222488403, 0.5133182406425476, 0.5133031606674194], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_yhjhta_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_5\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.5133029222488403, 0.5133182406425476, 0.5133031606674194], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_yhjhta_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_6\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.5133029222488403, 0.5133182406425476, 0.5133031606674194], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"car_xxsgpq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"car_xxsgpq_0\", \"category\": \"car\", \"model\": \"xxsgpq\", \"scale\": [1.0000019073486328, 0.9999808073043823, 1.0000020265579224], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"charcoal_grill_crdaeu_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"charcoal_grill_crdaeu_0\", \"category\": \"charcoal_grill\", \"model\": \"crdaeu\", \"scale\": [1.3063520193099976, 1.4543060064315796, 1.2942728996276855], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"countertop_tpuwys_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"countertop_tpuwys_0\", \"category\": \"countertop\", \"model\": \"tpuwys\", \"scale\": [0.6670383810997009, 1.7092905044555664, 2.349606513977051], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"da4aba690baf7dfca8d81c1bc1b6de83\"}}, \"dishwasher_ynrhuk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"dishwasher_ynrhuk_0\", \"category\": \"dishwasher\", \"model\": \"ynrhuk\", \"scale\": [1.103658676147461, 1.1392384767532349, 1.0695672035217285], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bf8ebfa4f2eddcbf9df621f5aa74f752\"}}, \"fridge_petcxr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fridge_petcxr_0\", \"category\": \"fridge\", \"model\": \"petcxr\", \"scale\": [1.000007152557373, 1.00002920627594, 1.0000027418136597], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d83d5bc62bc0e59923984dd17680385c\"}}, \"microwave_hjjxmi_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"microwave_hjjxmi_0\", \"category\": \"microwave\", \"model\": \"hjjxmi\", \"scale\": [0.9998999238014221, 1.00001859664917, 0.9998341202735901], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d4f14541ccd2e3716e66022ef7a71ae6\"}}, \"oven_ffitak_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"oven_ffitak_0\", \"category\": \"oven\", \"model\": \"ffitak\", \"scale\": [1.216524362564087, 0.9933228492736816, 0.9864447116851807], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"97058ea0b9027ae350a298f453ed87e8\"}}, \"toilet_udiezm_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"toilet_udiezm_0\", \"category\": \"toilet\", \"model\": \"udiezm\", \"scale\": [1.0000375509262085, 1.0000358819961548, 0.9999516010284424], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"tree_dyymaq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_dyymaq_0\", \"category\": \"tree\", \"model\": \"dyymaq\", \"scale\": [0.7470368146896362, 0.7470313310623169, 0.7470372319221497], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_dyymaq_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_dyymaq_1\", \"category\": \"tree\", \"model\": \"dyymaq\", \"scale\": [0.7470368146896362, 0.7470313310623169, 0.7470372319221497], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_dyymaq_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_dyymaq_2\", \"category\": \"tree\", \"model\": \"dyymaq\", \"scale\": [0.7470368146896362, 0.7470313310623169, 0.7470372319221497], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_flkzbo_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_flkzbo_0\", \"category\": \"tree\", \"model\": \"flkzbo\", \"scale\": [0.7470294237136841, 0.747040867805481, 0.7470352649688721], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_flkzbo_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_flkzbo_1\", \"category\": \"tree\", \"model\": \"flkzbo\", \"scale\": [0.7470294237136841, 0.747040867805481, 0.7470352649688721], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_flkzbo_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_flkzbo_2\", \"category\": \"tree\", \"model\": \"flkzbo\", \"scale\": [0.7470294237136841, 0.747040867805481, 0.7470352649688721], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_gmzozb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_gmzozb_0\", \"category\": \"tree\", \"model\": \"gmzozb\", \"scale\": [0.48671355843544006, 0.48672476410865784, 0.486715167760849], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_gmzozb_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_gmzozb_1\", \"category\": \"tree\", \"model\": \"gmzozb\", \"scale\": [0.48671355843544006, 0.48672476410865784, 0.486715167760849], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_gmzozb_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_gmzozb_2\", \"category\": \"tree\", \"model\": \"gmzozb\", \"scale\": [0.48671355843544006, 0.48672476410865784, 0.486715167760849], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_gmzozb_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_gmzozb_3\", \"category\": \"tree\", \"model\": \"gmzozb\", \"scale\": [0.48671355843544006, 0.48672476410865784, 0.486715167760849], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_gmzozb_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_gmzozb_4\", \"category\": \"tree\", \"model\": \"gmzozb\", \"scale\": [0.48671355843544006, 0.48672476410865784, 0.486715167760849], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_rrhqpw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_rrhqpw_0\", \"category\": \"tree\", \"model\": \"rrhqpw\", \"scale\": [0.6139122843742371, 0.613919198513031, 0.6139238476753235], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_rrhqpw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_rrhqpw_1\", \"category\": \"tree\", \"model\": \"rrhqpw\", \"scale\": [0.6139122843742371, 0.613919198513031, 0.6139238476753235], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_rrhqpw_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_rrhqpw_2\", \"category\": \"tree\", \"model\": \"rrhqpw\", \"scale\": [0.6139122843742371, 0.613919198513031, 0.6139238476753235], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_rrhqpw_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_rrhqpw_3\", \"category\": \"tree\", \"model\": \"rrhqpw\", \"scale\": [0.6139122843742371, 0.613919198513031, 0.6139238476753235], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_rrhqpw_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_rrhqpw_4\", \"category\": \"tree\", \"model\": \"rrhqpw\", \"scale\": [0.6139122843742371, 0.613919198513031, 0.6139238476753235], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_rrhqpw_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_rrhqpw_5\", \"category\": \"tree\", \"model\": \"rrhqpw\", \"scale\": [0.6139122843742371, 0.613919198513031, 0.6139238476753235], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_wtyipq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_wtyipq_0\", \"category\": \"tree\", \"model\": \"wtyipq\", \"scale\": [0.5642488598823547, 0.564253032207489, 0.564262866973877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_wtyipq_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_wtyipq_1\", \"category\": \"tree\", \"model\": \"wtyipq\", \"scale\": [0.5642488598823547, 0.564253032207489, 0.564262866973877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_wtyipq_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_wtyipq_2\", \"category\": \"tree\", \"model\": \"wtyipq\", \"scale\": [0.5642488598823547, 0.564253032207489, 0.564262866973877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_wtyipq_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_wtyipq_3\", \"category\": \"tree\", \"model\": \"wtyipq\", \"scale\": [0.5642488598823547, 0.564253032207489, 0.564262866973877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_wtyipq_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_wtyipq_4\", \"category\": \"tree\", \"model\": \"wtyipq\", \"scale\": [0.5642488598823547, 0.564253032207489, 0.564262866973877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_wtyipq_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_wtyipq_5\", \"category\": \"tree\", \"model\": \"wtyipq\", \"scale\": [0.5642488598823547, 0.564253032207489, 0.564262866973877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_wtyipq_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_wtyipq_6\", \"category\": \"tree\", \"model\": \"wtyipq\", \"scale\": [0.5642488598823547, 0.564253032207489, 0.564262866973877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_wtyipq_7\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_wtyipq_7\", \"category\": \"tree\", \"model\": \"wtyipq\", \"scale\": [0.5642488598823547, 0.564253032207489, 0.564262866973877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"tree_wtyipq_8\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_wtyipq_8\", \"category\": \"tree\", \"model\": \"wtyipq\", \"scale\": [0.5642488598823547, 0.564253032207489, 0.564262866973877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"wall_nail_wlnail_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_nail_wlnail_0\", \"category\": \"wall_nail\", \"model\": \"wlnail\", \"scale\": [1.5160282850265503, 1.5222605466842651, 1.5172984600067139], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garage_0\"], \"bddl_object_scope\": null}}, \"wall_nail_wlnail_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_nail_wlnail_1\", \"category\": \"wall_nail\", \"model\": \"wlnail\", \"scale\": [2.438278913497925, 2.4331214427948, 2.437626838684082], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b13640ddca0b3570656c5e120a6da059\"}}, \"wall_nail_wlnail_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_nail_wlnail_2\", \"category\": \"wall_nail\", \"model\": \"wlnail\", \"scale\": [1.5160282850265503, 1.5222605466842651, 1.5172984600067139], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garage_0\"], \"bddl_object_scope\": null}}, \"wood_fireplace_gpnsij_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wood_fireplace_gpnsij_0\", \"category\": \"wood_fireplace\", \"model\": \"gpnsij\", \"scale\": [0.9999626874923706, 1.000006079673767, 1.0000019073486328], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d797382fdee0780cf9e7cf822d7bc824\"}}, \"bar_byvbuc_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bar_byvbuc_0\", \"category\": \"bar\", \"model\": \"byvbuc\", \"scale\": [0.9999271035194397, 1.0000065565109253, 1.0000300407409668], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"095d92fea41b6b33cbb3070538a28b5a\"}}, \"burner_mdanhg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"burner_mdanhg_0\", \"category\": \"burner\", \"model\": \"mdanhg\", \"scale\": [1.00006902217865, 1.000030517578125, 0.9988557696342468], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"f85e9a7f5de5b91e25341137a775c302\"}}, \"shelf_vanltx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"shelf_vanltx_0\", \"category\": \"shelf\", \"model\": \"vanltx\", \"scale\": [0.999862790107727, 0.9999753832817078, 0.9999756217002869], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"647e7dbd099d323784d0490abfae4eac\"}}, \"breakfast_table_xftrki_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"breakfast_table_xftrki_0\", \"category\": \"breakfast_table\", \"model\": \"xftrki\", \"scale\": [1.0000485181808472, 0.9999868273735046, 0.9999451637268066], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"3c6a214cdeb686e70120fa3115c65c97\"}}, \"coffee_table_koagbh_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"coffee_table_koagbh_0\", \"category\": \"coffee_table\", \"model\": \"koagbh\", \"scale\": [0.9999982714653015, 1.0000159740447998, 1.000001311302185], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"e461f59150bdc5b675a3b025c7b4e7ee\"}}, \"garden_chair_cottya_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_chair_cottya_0\", \"category\": \"garden_chair\", \"model\": \"cottya\", \"scale\": [1.0000277757644653, 1.0000189542770386, 0.9999681711196899], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_chair_cottya_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_chair_cottya_1\", \"category\": \"garden_chair\", \"model\": \"cottya\", \"scale\": [1.0000277757644653, 1.0000189542770386, 0.9999681711196899], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_chair_cottya_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_chair_cottya_2\", \"category\": \"garden_chair\", \"model\": \"cottya\", \"scale\": [1.0000277757644653, 1.0000189542770386, 0.9999681711196899], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_chair_lraplz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_chair_lraplz_0\", \"category\": \"garden_chair\", \"model\": \"lraplz\", \"scale\": [1.0000391006469727, 1.0000197887420654, 0.999955415725708], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"standing_mirror_wwkuuf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"standing_mirror_wwkuuf_0\", \"category\": \"standing_mirror\", \"model\": \"wwkuuf\", \"scale\": [1.000001072883606, 1.0000319480895996, 0.9999984502792358], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"straight_chair_hgunnf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"straight_chair_hgunnf_0\", \"category\": \"straight_chair\", \"model\": \"hgunnf\", \"scale\": [1.0000176429748535, 0.9999879598617554, 0.9999611377716064], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7b7ec63d953cba350c0d1727bba2421e\"}}, \"straight_chair_uofiqj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"straight_chair_uofiqj_0\", \"category\": \"straight_chair\", \"model\": \"uofiqj\", \"scale\": [1.0000693798065186, 0.9999873638153076, 0.9999604225158691], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"1142004608ed16c041c0c264e6eb74a5\"}}, \"straight_chair_uofiqj_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"straight_chair_uofiqj_1\", \"category\": \"straight_chair\", \"model\": \"uofiqj\", \"scale\": [1.0000693798065186, 0.9999873638153076, 0.9999604225158691], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"1142004608ed16c041c0c264e6eb74a5\"}}, \"straight_chair_zdhnyg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"straight_chair_zdhnyg_0\", \"category\": \"straight_chair\", \"model\": \"zdhnyg\", \"scale\": [1.0000176429748535, 0.9999879598617554, 0.9999611377716064], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"a1e17c47ea4dd146449fbe05d7bc095a\"}}, \"bar_egwapq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bar_egwapq_0\", \"category\": \"bar\", \"model\": \"egwapq\", \"scale\": [0.9999869465827942, 0.9999972581863403, 1.0000406503677368], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"fa31d04ec2beb2ccd5b8f4813360d422\"}}, \"bottom_cabinet_rhdbzv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_rhdbzv_0\", \"category\": \"bottom_cabinet\", \"model\": \"rhdbzv\", \"scale\": [0.9999125599861145, 0.9999962449073792, 0.9999184012413025], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\"}}, \"car_ssxsje_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"car_ssxsje_0\", \"category\": \"car\", \"model\": \"ssxsje\", \"scale\": [1.0000019073486328, 0.9999808073043823, 1.0000020265579224], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garage_0\"], \"bddl_object_scope\": null}}, \"ceilings_alydei_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_alydei_0\", \"category\": \"ceilings\", \"model\": \"alydei\", \"scale\": [0.999988853931427, 0.9999680519104004, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"86e365b8fb102d702c6505cd28459c6b\"}}, \"ceilings_aoekre_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_aoekre_0\", \"category\": \"ceilings\", \"model\": \"aoekre\", \"scale\": [0.9999804496765137, 1.0000091791152954, 0.9999062418937683], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"fed445c055bd7da4df963a2455755786\"}}, \"ceilings_feolie_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_feolie_0\", \"category\": \"ceilings\", \"model\": \"feolie\", \"scale\": [0.9999893307685852, 0.9999977946281433, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"0c8c59ac8c8af78b9d8eec93e762df12\"}}, \"ceilings_isizwh_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_isizwh_0\", \"category\": \"ceilings\", \"model\": \"isizwh\", \"scale\": [0.9999997019767761, 0.9999985098838806, 0.9999061226844788], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garage_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d94c0f06b0244d1f69d59096d0a0ead6\"}}, \"ceilings_kbxtoc_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_kbxtoc_0\", \"category\": \"ceilings\", \"model\": \"kbxtoc\", \"scale\": [0.9999968409538269, 1.0000067949295044, 0.9999062418937683], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"308be41b758fc0ca3f8ac8e31ce37d86\"}}, \"ceilings_sbkyof_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_sbkyof_0\", \"category\": \"ceilings\", \"model\": \"sbkyof\", \"scale\": [1.0000014305114746, 0.9999884366989136, 0.9999062418937683], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"46c82d22b374f34f5b527f708c1c355b\"}}, \"ceilings_vkfllw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ceilings_vkfllw_0\", \"category\": \"ceilings\", \"model\": \"vkfllw\", \"scale\": [1.000012993812561, 1.0000267028808594, 0.9999062418937683], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9a9b27c732cc2d0cee5ece6550efee5b\"}}, \"decorative_sign_hgonwj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"decorative_sign_hgonwj_0\", \"category\": \"decorative_sign\", \"model\": \"hgonwj\", \"scale\": [0.9999993443489075, 1.0000003576278687, 0.9999220967292786], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"97e453ea122521909d3b30c306a76c63\"}}, \"decorative_sign_rypeha_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"decorative_sign_rypeha_0\", \"category\": \"decorative_sign\", \"model\": \"rypeha\", \"scale\": [0.9984210729598999, 1.0001134872436523, 1.0001660585403442], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"decorative_sign_xzsmxq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"decorative_sign_xzsmxq_0\", \"category\": \"decorative_sign\", \"model\": \"xzsmxq\", \"scale\": [0.9994317293167114, 0.9999769926071167, 1.0000669956207275], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"door_bexenl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_bexenl_0\", \"category\": \"door\", \"model\": \"bexenl\", \"scale\": [0.9997830986976624, 1.0000373125076294, 0.9999975562095642], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garage_0\", \"corridor_0\"], \"bddl_object_scope\": null}}, \"door_bexenl_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_bexenl_1\", \"category\": \"door\", \"model\": \"bexenl\", \"scale\": [0.9984117150306702, 1.0000373125076294, 0.9999975562095642], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\", \"bathroom_0\"], \"bddl_object_scope\": null}}, \"door_vudhlc_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_vudhlc_0\", \"category\": \"door\", \"model\": \"vudhlc\", \"scale\": [0.9998228549957275, 0.9999946355819702, 0.9999881982803345], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\", \"garden_0\"], \"bddl_object_scope\": null}}, \"door_vudhlc_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_vudhlc_1\", \"category\": \"door\", \"model\": \"vudhlc\", \"scale\": [0.9998228549957275, 0.9999946355819702, 0.9999881982803345], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\", \"garden_0\"], \"bddl_object_scope\": null}}, \"door_vudhlc_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_vudhlc_2\", \"category\": \"door\", \"model\": \"vudhlc\", \"scale\": [0.9998228549957275, 0.9999946355819702, 0.9999881982803345], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\", \"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\"}}, \"door_vudhlc_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_vudhlc_3\", \"category\": \"door\", \"model\": \"vudhlc\", \"scale\": [0.9998228549957275, 0.9999946355819702, 0.9999881982803345], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\", \"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\"}}, \"downlight_pawfmw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_0\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"downlight_pawfmw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_1\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"downlight_pawfmw_10\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_10\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pawfmw_11\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_11\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pawfmw_12\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_12\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pawfmw_13\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_13\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pawfmw_14\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_14\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pawfmw_15\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_15\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pawfmw_16\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_16\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pawfmw_17\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_17\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pawfmw_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_2\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"downlight_pawfmw_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_3\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"downlight_pawfmw_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_4\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"downlight_pawfmw_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_5\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"downlight_pawfmw_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_6\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"downlight_pawfmw_7\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_7\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"downlight_pawfmw_8\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_8\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"downlight_pawfmw_9\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_9\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pxrmnt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pxrmnt_0\", \"category\": \"downlight\", \"model\": \"pxrmnt\", \"scale\": [1.0003904104232788, 0.999914824962616, 1.0003902912139893], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"downlight_pxrmnt_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pxrmnt_1\", \"category\": \"downlight\", \"model\": \"pxrmnt\", \"scale\": [1.0003904104232788, 0.999914824962616, 1.0003902912139893], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"downlight_pxrmnt_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pxrmnt_2\", \"category\": \"downlight\", \"model\": \"pxrmnt\", \"scale\": [1.0003904104232788, 0.999914824962616, 1.0003902912139893], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"driveway_umalys_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"driveway_umalys_0\", \"category\": \"driveway\", \"model\": \"umalys\", \"scale\": [0.9999949932098389, 1.0000005960464478, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"drop_in_sink_hecjnt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"drop_in_sink_hecjnt_0\", \"category\": \"drop_in_sink\", \"model\": \"hecjnt\", \"scale\": [0.9999883770942688, 1.0000587701797485, 0.9999573230743408], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"drop_in_sink_lkklqs_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"drop_in_sink_lkklqs_0\", \"category\": \"drop_in_sink\", \"model\": \"lkklqs\", \"scale\": [1.0000046491622925, 0.9999699592590332, 1.0000004768371582], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"2425c55bea6d7dab1be772b6e9a57b7d\"}}, \"electric_switch_strbnw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_0\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"electric_switch_strbnw_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_2\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"electric_switch_strbnw_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_3\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"fixed_window_kvdqep_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_kvdqep_0\", \"category\": \"fixed_window\", \"model\": \"kvdqep\", \"scale\": [0.9996340274810791, 0.9999764561653137, 0.9999943971633911], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\", \"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"61725e3a9b11c1062ad9959d78f32a2c\"}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\", \"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"}}, \"floors_ghetev_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_ghetev_0\", \"category\": \"floors\", \"model\": \"ghetev\", \"scale\": [0.9999978542327881, 1.0000015497207642, 0.9999032616615295], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"floors_irvmpb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_irvmpb_0\", \"category\": \"floors\", \"model\": \"irvmpb\", \"scale\": [1.0000075101852417, 1.0000039339065552, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"floors_iwsyoz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_iwsyoz_0\", \"category\": \"floors\", \"model\": \"iwsyoz\", \"scale\": [1.0000020265579224, 0.9999590516090393, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"floors_nbxnpk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_nbxnpk_0\", \"category\": \"floors\", \"model\": \"nbxnpk\", \"scale\": [0.9999986290931702, 1.000006079673767, 1.0000001192092896], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garage_0\"], \"bddl_object_scope\": null}}, \"floors_ogynye_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_ogynye_0\", \"category\": \"floors\", \"model\": \"ogynye\", \"scale\": [0.9999971389770508, 1.0000039339065552, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"floors_qadhjb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_qadhjb_0\", \"category\": \"floors\", \"model\": \"qadhjb\", \"scale\": [1.0000005960464478, 1.0000057220458984, 1.0000001192092896], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"floors_sdejoi_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_sdejoi_0\", \"category\": \"floors\", \"model\": \"sdejoi\", \"scale\": [0.9999986290931702, 0.9999680519104004, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"floors_slmyas_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_slmyas_0\", \"category\": \"floors\", \"model\": \"slmyas\", \"scale\": [0.9999943375587463, 0.9999828934669495, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"floors_ulujpr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_ulujpr_0\", \"category\": \"floors\", \"model\": \"ulujpr\", \"scale\": [1.0000017881393433, 0.9999909996986389, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"da6d83b222d92083f433c257beb7824a\"}}, \"floors_xkkysf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_xkkysf_0\", \"category\": \"floors\", \"model\": \"xkkysf\", \"scale\": [0.9999986886978149, 0.9999807476997375, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"floors_xorxro_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_xorxro_0\", \"category\": \"floors\", \"model\": \"xorxro\", \"scale\": [0.9999860525131226, 0.9999966025352478, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"floors_zqjkvm_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floors_zqjkvm_0\", \"category\": \"floors\", \"model\": \"zqjkvm\", \"scale\": [1.0000038146972656, 1.0000016689300537, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5ef2eea344a85c5dbda9b196082a08b9\"}}, \"garage_door_prdjyt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garage_door_prdjyt_0\", \"category\": \"garage_door\", \"model\": \"prdjyt\", \"scale\": [1.0000101327896118, 0.9999930262565613, 0.9999902844429016], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garage_0\"], \"bddl_object_scope\": null}}, \"garden_light_qyfrwj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_light_qyfrwj_0\", \"category\": \"garden_light\", \"model\": \"qyfrwj\", \"scale\": [1.0, 1.0, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_light_qyfrwj_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_light_qyfrwj_1\", \"category\": \"garden_light\", \"model\": \"qyfrwj\", \"scale\": [1.0, 1.0, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_light_qyfrwj_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_light_qyfrwj_2\", \"category\": \"garden_light\", \"model\": \"qyfrwj\", \"scale\": [1.0, 1.0, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_light_qyfrwj_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_light_qyfrwj_3\", \"category\": \"garden_light\", \"model\": \"qyfrwj\", \"scale\": [1.0, 1.0, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_light_qyfrwj_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_light_qyfrwj_4\", \"category\": \"garden_light\", \"model\": \"qyfrwj\", \"scale\": [1.0, 1.0, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_light_qyfrwj_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_light_qyfrwj_5\", \"category\": \"garden_light\", \"model\": \"qyfrwj\", \"scale\": [1.0, 1.0, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_light_qyfrwj_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_light_qyfrwj_6\", \"category\": \"garden_light\", \"model\": \"qyfrwj\", \"scale\": [1.0, 1.0, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_light_qyfrwj_7\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_light_qyfrwj_7\", \"category\": \"garden_light\", \"model\": \"qyfrwj\", \"scale\": [1.0, 1.0, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"garden_light_qyfrwj_8\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"garden_light_qyfrwj_8\", \"category\": \"garden_light\", \"model\": \"qyfrwj\", \"scale\": [1.0, 1.0, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"hall_tree_daxzaw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hall_tree_daxzaw_0\", \"category\": \"hall_tree\", \"model\": \"daxzaw\", \"scale\": [1.0000174045562744, 0.9999738335609436, 1.000008225440979], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"hall_tree_upkvgr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hall_tree_upkvgr_0\", \"category\": \"hall_tree\", \"model\": \"upkvgr\", \"scale\": [1.0000102519989014, 0.9999994039535522, 0.9999828338623047], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"hook_akwlam_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hook_akwlam_0\", \"category\": \"hook\", \"model\": \"akwlam\", \"scale\": [0.9989968538284302, 0.999685525894165, 0.9994485974311829], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"lawn_aztwla_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"lawn_aztwla_0\", \"category\": \"lawn\", \"model\": \"aztwla\", \"scale\": [0.9999991059303284, 1.0000005960464478, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"lawn_srfikq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"lawn_srfikq_0\", \"category\": \"lawn\", \"model\": \"srfikq\", \"scale\": [0.9999915957450867, 1.0000064373016357, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"lawn_tiqndr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"lawn_tiqndr_0\", \"category\": \"lawn\", \"model\": \"tiqndr\", \"scale\": [0.9999890923500061, 1.0000040531158447, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"lawn_zjtrpt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"lawn_zjtrpt_0\", \"category\": \"lawn\", \"model\": \"zjtrpt\", \"scale\": [0.9999980330467224, 0.9999983310699463, 1.0], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"mirror_edxfnt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"mirror_edxfnt_0\", \"category\": \"mirror\", \"model\": \"edxfnt\", \"scale\": [0.9987490177154541, 1.0000622272491455, 0.9999228119850159], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"motion_sensor_aecflf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"motion_sensor_aecflf_0\", \"category\": \"motion_sensor\", \"model\": \"aecflf\", \"scale\": [1.000545620918274, 1.0000216960906982, 0.9992833137512207], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"paver_eskaca_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"paver_eskaca_0\", \"category\": \"paver\", \"model\": \"eskaca\", \"scale\": [0.9999935626983643, 0.9999943375587463, 1.000009298324585], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"paver_lmdfdn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"paver_lmdfdn_0\", \"category\": \"paver\", \"model\": \"lmdfdn\", \"scale\": [0.999997615814209, 1.0000035762786865, 1.0000982284545898], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"paver_sekqqq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"paver_sekqqq_0\", \"category\": \"paver\", \"model\": \"sekqqq\", \"scale\": [0.9999988675117493, 0.9999991655349731, 0.9999514818191528], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"picture_ekagyj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_ekagyj_0\", \"category\": \"picture\", \"model\": \"ekagyj\", \"scale\": [1.000014066696167, 1.0000383853912354, 1.000417947769165], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"931f520415eaa97c3a351f55a9e3f1db\"}}, \"picture_ggajdz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_ggajdz_0\", \"category\": \"picture\", \"model\": \"ggajdz\", \"scale\": [1.000124454498291, 1.0001705884933472, 0.9999970197677612], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"90222f7d3d6fd6d98a441a56b8e3da48\"}}, \"picture_hffaxw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_hffaxw_0\", \"category\": \"picture\", \"model\": \"hffaxw\", \"scale\": [1.0000427961349487, 0.9999925494194031, 1.0003688335418701], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"picture_jnecmu_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_jnecmu_0\", \"category\": \"picture\", \"model\": \"jnecmu\", \"scale\": [0.999976634979248, 1.0000495910644531, 1.001776099205017], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"picture_qlkknu_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_qlkknu_0\", \"category\": \"picture\", \"model\": \"qlkknu\", \"scale\": [0.9999873638153076, 1.0000169277191162, 0.9985789656639099], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"picture_qlsyco_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_qlsyco_0\", \"category\": \"picture\", \"model\": \"qlsyco\", \"scale\": [0.9999110102653503, 0.9999677538871765, 0.999721884727478], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7e7bd70f770fefe441fa4e7f17a72217\"}}, \"picture_tveyoh_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_tveyoh_0\", \"category\": \"picture\", \"model\": \"tveyoh\", \"scale\": [0.9999850392341614, 1.000157356262207, 0.9978264570236206], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"picture_yzbpie_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"picture_yzbpie_0\", \"category\": \"picture\", \"model\": \"yzbpie\", \"scale\": [1.0, 0.9999328851699829, 0.9977754950523376], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"playground_xdlcdi_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"playground_xdlcdi_0\", \"category\": \"playground\", \"model\": \"xdlcdi\", \"scale\": [1.0000079870224, 1.0000005960464478, 0.9999991059303284], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"rail_fence_owbrvb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"rail_fence_owbrvb_0\", \"category\": \"rail_fence\", \"model\": \"owbrvb\", \"scale\": [0.9999550580978394, 0.9999983310699463, 0.999997079372406], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"rail_fence_owbrvb_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"rail_fence_owbrvb_1\", \"category\": \"rail_fence\", \"model\": \"owbrvb\", \"scale\": [0.9999550580978394, 0.9999983310699463, 0.999997079372406], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"rail_fence_owbrvb_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"rail_fence_owbrvb_2\", \"category\": \"rail_fence\", \"model\": \"owbrvb\", \"scale\": [0.9999550580978394, 0.9999983310699463, 0.999997079372406], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"rail_fence_owbrvb_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"rail_fence_owbrvb_3\", \"category\": \"rail_fence\", \"model\": \"owbrvb\", \"scale\": [0.9999550580978394, 0.9999983310699463, 0.999997079372406], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"rail_fence_owbrvb_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"rail_fence_owbrvb_4\", \"category\": \"rail_fence\", \"model\": \"owbrvb\", \"scale\": [0.9999550580978394, 0.9999983310699463, 0.999997079372406], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"rail_fence_owbrvb_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"rail_fence_owbrvb_5\", \"category\": \"rail_fence\", \"model\": \"owbrvb\", \"scale\": [0.9999550580978394, 0.9999983310699463, 0.999997079372406], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"range_hood_xvdfpp_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"range_hood_xvdfpp_0\", \"category\": \"range_hood\", \"model\": \"xvdfpp\", \"scale\": [0.999972939491272, 0.9999890923500061, 0.9999650716781616], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"81bfc056084ea61abdd244371186d8c3\"}}, \"roof_pgwmer_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"roof_pgwmer_0\", \"category\": \"roof\", \"model\": \"pgwmer\", \"scale\": [1.0000041723251343, 1.000003457069397, 1.000004768371582], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"16e85fae45365873f88aa2ba4e7e4acc\"}}, \"room_light_eqbjaz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"room_light_eqbjaz_0\", \"category\": \"room_light\", \"model\": \"eqbjaz\", \"scale\": [0.9999228715896606, 0.9999228715896606, 1.0000250339508057], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"41b6772d0ee658d7f567c3aaf18fe00e\"}}, \"room_light_kiuayi_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"room_light_kiuayi_0\", \"category\": \"room_light\", \"model\": \"kiuayi\", \"scale\": [0.999922513961792, 0.999922513961792, 0.9999570250511169], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"0a708f17db358d92424529282bde269d\"}}, \"sofa_frlxgz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"sofa_frlxgz_0\", \"category\": \"sofa\", \"model\": \"frlxgz\", \"scale\": [0.9999723434448242, 1.0000096559524536, 1.0000298023223877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"97f053b59fad5686fa81fb917c330d8c\"}}, \"stairs_tikozn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"stairs_tikozn_0\", \"category\": \"stairs\", \"model\": \"tikozn\", \"scale\": [0.9999832510948181, 0.9999979138374329, 1.0000052452087402], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"3a312e0397d4aaf7758006345e2b4ac0\"}}, \"swing_set_yzhrgz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"swing_set_yzhrgz_0\", \"category\": \"swing_set\", \"model\": \"yzhrgz\", \"scale\": [0.9999914169311523, 1.0000094175338745, 0.9999831318855286], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"top_cabinet_tynnnw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"top_cabinet_tynnnw_0\", \"category\": \"top_cabinet\", \"model\": \"tynnnw\", \"scale\": [0.9999695420265198, 1.0000219345092773, 1.0000149011611938], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bb9e8ae548dea044f81606680c1ddd4a\"}}, \"top_cabinet_tynnnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"top_cabinet_tynnnw_1\", \"category\": \"top_cabinet\", \"model\": \"tynnnw\", \"scale\": [0.9999695420265198, 1.0000219345092773, 1.0000149011611938], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bb9e8ae548dea044f81606680c1ddd4a\"}}, \"track_light_ltnnrc_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"track_light_ltnnrc_0\", \"category\": \"track_light\", \"model\": \"ltnnrc\", \"scale\": [1.0000474452972412, 0.9999818801879883, 1.0001263618469238], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\"}}, \"track_light_ltnnrc_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"track_light_ltnnrc_1\", \"category\": \"track_light\", \"model\": \"ltnnrc\", \"scale\": [1.0000474452972412, 0.9999818801879883, 1.0001263618469238], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"kitchen_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\"}}, \"wall_mounted_light_mbhxbg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_mounted_light_mbhxbg_0\", \"category\": \"wall_mounted_light\", \"model\": \"mbhxbg\", \"scale\": [0.9992985725402832, 1.0001024007797241, 0.9997308850288391], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"wall_mounted_tv_dxyfxf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_mounted_tv_dxyfxf_0\", \"category\": \"wall_mounted_tv\", \"model\": \"dxyfxf\", \"scale\": [1.0007919073104858, 1.0000017881393433, 0.9999944567680359], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"1990336656301cdc2627aae5f7318022\"}}, \"wall_socket_nujxel_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"wall_socket_nujxel_0\", \"category\": \"wall_socket\", \"model\": \"nujxel\", \"scale\": [1.0000932216644287, 1.0000927448272705, 0.9969304800033569], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null}}, \"walls_abtbfo_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_abtbfo_0\", \"category\": \"walls\", \"model\": \"abtbfo\", \"scale\": [0.999961793422699, 1.0000077486038208, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"5b4896a60c91fe6a70dfaf6d3dcdc497\"}}, \"walls_bjekee_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_bjekee_0\", \"category\": \"walls\", \"model\": \"bjekee\", \"scale\": [0.9999438524246216, 1.0000054836273193, 1.000013828277588], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"8cf95618eba09e45afe87c1d59d4a841\"}}, \"walls_buhmrc_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_buhmrc_0\", \"category\": \"walls\", \"model\": \"buhmrc\", \"scale\": [0.9999995231628418, 0.9999675750732422, 0.9999062418937683], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"6d240c22e5f36de3ad60ea086569d665\"}}, \"walls_chmqjn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_chmqjn_0\", \"category\": \"walls\", \"model\": \"chmqjn\", \"scale\": [1.0000461339950562, 0.999961793422699, 0.9999359250068665], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"332ac54222e17e0377a4004614cf7790\"}}, \"walls_cvdpaq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_cvdpaq_0\", \"category\": \"walls\", \"model\": \"cvdpaq\", \"scale\": [0.9999979734420776, 0.9999068975448608, 1.000015377998352], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"61d61f77095a80ff9b5f03c2669df801\"}}, \"walls_cxsmhr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_cxsmhr_0\", \"category\": \"walls\", \"model\": \"cxsmhr\", \"scale\": [1.000010371208191, 0.9997971057891846, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"1b5be077939eeb28fb416785efe26f03\"}}, \"walls_dewyls_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_dewyls_0\", \"category\": \"walls\", \"model\": \"dewyls\", \"scale\": [1.0000096559524536, 0.9997960329055786, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"fcae1747905d4fed1bdf50e4e2bc6479\"}}, \"walls_dlfarz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_dlfarz_0\", \"category\": \"walls\", \"model\": \"dlfarz\", \"scale\": [0.9999517202377319, 0.999993085861206, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"1f18407b01312aa0fd583b93adf96e96\"}}, \"walls_epketb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_epketb_0\", \"category\": \"walls\", \"model\": \"epketb\", \"scale\": [0.9999929666519165, 0.9999200701713562, 0.9999359250068665], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"d8e9b89b73cd854af80a55322a431a0d\"}}, \"walls_fwsbwf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_fwsbwf_0\", \"category\": \"walls\", \"model\": \"fwsbwf\", \"scale\": [1.0001320838928223, 0.9999893307685852, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"9f3aa2c8d583922ab877f18a3e5a8df9\"}}, \"walls_gishpf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_gishpf_0\", \"category\": \"walls\", \"model\": \"gishpf\", \"scale\": [0.9998095035552979, 0.9999909996986389, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"c972e073ef1ab690da74d37fd2dcb490\"}}, \"walls_hcbqvq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_hcbqvq_0\", \"category\": \"walls\", \"model\": \"hcbqvq\", \"scale\": [0.9998935461044312, 0.9998812675476074, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"4c223a0241e1c7e919f7514767a54b7a\"}}, \"walls_jemunw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_jemunw_0\", \"category\": \"walls\", \"model\": \"jemunw\", \"scale\": [0.9999935030937195, 0.9997928738594055, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"3122bb8332fa6ea366a14e86d3e219ce\"}}, \"walls_jglkyp_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_jglkyp_0\", \"category\": \"walls\", \"model\": \"jglkyp\", \"scale\": [0.9999024271965027, 1.0000457763671875, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"042e510fad798211dad67f4921944b91\"}}, \"walls_jnbgxj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_jnbgxj_0\", \"category\": \"walls\", \"model\": \"jnbgxj\", \"scale\": [0.9999818205833435, 1.000158429145813, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"6cdd3a9f66cf52b3a80bf7f97e725e32\"}}, \"walls_jzwmhx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_jzwmhx_0\", \"category\": \"walls\", \"model\": \"jzwmhx\", \"scale\": [0.9997971057891846, 0.9999966025352478, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"261879bc3e684bf2dbd77d26f0c2b12e\"}}, \"walls_lblwvg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_lblwvg_0\", \"category\": \"walls\", \"model\": \"lblwvg\", \"scale\": [0.999974250793457, 0.9998873472213745, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"a95c81ecd20891f1bafe760b47c06420\"}}, \"walls_lovfhw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_lovfhw_0\", \"category\": \"walls\", \"model\": \"lovfhw\", \"scale\": [0.9998873472213745, 0.9998785257339478, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\"}}, \"walls_mgumxz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_mgumxz_0\", \"category\": \"walls\", \"model\": \"mgumxz\", \"scale\": [0.9997971057891846, 0.999988853931427, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\"}}, \"walls_mgvxov_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_mgvxov_0\", \"category\": \"walls\", \"model\": \"mgvxov\", \"scale\": [0.9998886585235596, 0.9998785257339478, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"dde5a8a24f95e81ea67759ba1da85bbe\"}}, \"walls_miltge_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_miltge_0\", \"category\": \"walls\", \"model\": \"miltge\", \"scale\": [1.0000001192092896, 0.9999647736549377, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"80acf118157114cffb17d2205bd44b6c\"}}, \"walls_mkgplc_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_mkgplc_0\", \"category\": \"walls\", \"model\": \"mkgplc\", \"scale\": [1.0000089406967163, 1.0001459121704102, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\"}}, \"walls_mwlvfb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_mwlvfb_0\", \"category\": \"walls\", \"model\": \"mwlvfb\", \"scale\": [1.0000306367874146, 1.0001626014709473, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\"}}, \"walls_oiagxk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_oiagxk_0\", \"category\": \"walls\", \"model\": \"oiagxk\", \"scale\": [0.9999501705169678, 1.0000206232070923, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\"}}, \"walls_oqrbxo_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_oqrbxo_0\", \"category\": \"walls\", \"model\": \"oqrbxo\", \"scale\": [1.000234842300415, 1.0000065565109253, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\"}}, \"walls_owxeej_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_owxeej_0\", \"category\": \"walls\", \"model\": \"owxeej\", \"scale\": [0.9999358654022217, 1.000019907951355, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\"}}, \"walls_paarsl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_paarsl_0\", \"category\": \"walls\", \"model\": \"paarsl\", \"scale\": [0.999906599521637, 1.0000128746032715, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"e9e1b102347c179e7404ac8c63a057a1\"}}, \"walls_pmygxs_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_pmygxs_0\", \"category\": \"walls\", \"model\": \"pmygxs\", \"scale\": [0.999999463558197, 0.9998095035552979, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"cfa38d73f5886197dba5e112adfcc07a\"}}, \"walls_qeofms_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_qeofms_0\", \"category\": \"walls\", \"model\": \"qeofms\", \"scale\": [0.9999974966049194, 0.999953031539917, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"de4be4ceec4d1ed48e605abe3782ada8\"}}, \"walls_rrabdp_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_rrabdp_0\", \"category\": \"walls\", \"model\": \"rrabdp\", \"scale\": [0.9999839663505554, 1.000156283378601, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"ce0382609f884e45db5568d574f2e732\"}}, \"walls_uiloru_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_uiloru_0\", \"category\": \"walls\", \"model\": \"uiloru\", \"scale\": [0.9999812245368958, 0.9997938871383667, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"0ed21a252059af2ca999e818dfd81cbb\"}}, \"walls_umqqmh_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_umqqmh_0\", \"category\": \"walls\", \"model\": \"umqqmh\", \"scale\": [1.000093698501587, 0.9998928904533386, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"be4f1289ffe5930678abdd08063eb74a\"}}, \"walls_upttgq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_upttgq_0\", \"category\": \"walls\", \"model\": \"upttgq\", \"scale\": [0.9997971057891846, 1.0000076293945312, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"326697987c9faf715f6e6116bc9f3801\"}}, \"walls_vxveul_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_vxveul_0\", \"category\": \"walls\", \"model\": \"vxveul\", \"scale\": [0.9999592900276184, 1.0000137090682983, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"db479ab9cc217e69d2cb0748a8fbe312\"}}, \"walls_weybsr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_weybsr_0\", \"category\": \"walls\", \"model\": \"weybsr\", \"scale\": [1.0000098943710327, 0.9999802112579346, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"8b98d47f8b384604d4211372b3575ebd\"}}, \"walls_xsubff_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_xsubff_0\", \"category\": \"walls\", \"model\": \"xsubff\", \"scale\": [1.0000114440917969, 1.0000354051589966, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\"}}, \"walls_xyrbgy_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_xyrbgy_0\", \"category\": \"walls\", \"model\": \"xyrbgy\", \"scale\": [1.0, 0.9999845027923584, 1.0000032186508179], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\"}}, \"walls_ylpkth_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_ylpkth_0\", \"category\": \"walls\", \"model\": \"ylpkth\", \"scale\": [1.0000102519989014, 1.000156283378601, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\"}}, \"walls_zdhaff_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_zdhaff_0\", \"category\": \"walls\", \"model\": \"zdhaff\", \"scale\": [1.0000907182693481, 1.0000133514404297, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\"}}, \"washer_ziomqg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"washer_ziomqg_0\", \"category\": \"washer\", \"model\": \"ziomqg\", \"scale\": [1.0000054836273193, 0.9999728202819824, 0.9999645948410034], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"can_of_soda_113\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"can_of_soda_113\", \"category\": \"can_of_soda\", \"model\": \"lugwcz\", \"scale\": [1.0, 1.0, 1.0], \"prim_type\": 0, \"in_rooms\": [\"living_room_0\"], \"expected_file_hash\": \"de9950e5b2158ed7fef020cada76b7d3\"}}, \"can_of_soda_114\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"can_of_soda_114\", \"category\": \"can_of_soda\", \"model\": \"itolcg\", \"scale\": [1.0, 1.0, 1.0], \"prim_type\": 0, \"in_rooms\": [\"living_room_0\"], \"expected_file_hash\": \"05fea4c051802b657cd0f7d6185e81e8\"}}, \"can_of_soda_115\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"can_of_soda_115\", \"category\": \"can_of_soda\", \"model\": \"itolcg\", \"scale\": [1.0, 1.0, 1.0], \"prim_type\": 0, \"in_rooms\": [\"living_room_0\"], \"expected_file_hash\": \"05fea4c051802b657cd0f7d6185e81e8\"}}, \"trash_can_116\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"trash_can_116\", \"category\": \"trash_can\", \"model\": \"wkxtxh\", \"scale\": [1.0, 1.0, 1.0], \"prim_type\": 0, \"in_rooms\": [\"kitchen_0\"], \"expected_file_hash\": \"85a0df9923302ea85ffaf875f9c4916b\"}}, \"robot_r1\": {\"class_module\": \"omnigibson.robots.r1pro\", \"class_name\": \"R1Pro\", \"args\": {\"name\": \"robot_r1\", \"self_collisions\": true, \"controller_config\": {\"arm_left\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"arm_right\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"gripper_left\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"gripper_right\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"base\": {\"name\": \"HolonomicBaseJointController\", \"motor_type\": \"velocity\", \"vel_kp\": 150, \"command_input_limits\": [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]], \"command_output_limits\": [[-0.75, -0.75, -1.0], [0.75, 0.75, 1.0]], \"use_impedances\": false}, \"trunk\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"camera\": {\"name\": \"NullJointController\"}}, \"action_normalize\": false, \"reset_joint_pos\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.024999976158142, -1.4500000476837158, -0.4699999988079071, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806], \"obs_modalities\": [], \"sensor_config\": {\"VisionSensor\": {\"sensor_kwargs\": {\"image_height\": 1080, \"image_width\": 1080}}}, \"grasping_mode\": \"assisted\", \"expected_file_hash\": \"9f34cb802db8e2340aa186b6fc6554fd\"}}}}, \"state\": {\"pos\": [0.0, 0.0, 0.0], \"ori\": [0.0, 0.0, 0.0, 1.0], \"registry\": {\"system_registry\": {}, \"object_registry\": {\"bottom_cabinet_qacthv_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.485633134841919, -0.7423186302185059, 0.3915698528289795], \"ori\": [0.0002889409370254725, 0.00036380518577061594, 0.7071062326431274, 0.7071071863174438], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [6.792648576947613e-08, 6.792078011130798e-08, 6.792502915686782e-08], \"joint_vel\": [0.0, 0.0, 0.0], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bush_cwsigt_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.309931516647339, -3.0563852787017822, 0.21787306666374207], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_cwsigt_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.1376190185546875, -3.686838388442993, 0.21787306666374207], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_cwsigt_10\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.96783447265625, -2.8315067291259766, 0.21787306666374207], \"ori\": [0.0, 0.0, -0.46174880862236023, 0.8870107531547546]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_cwsigt_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.701294422149658, -3.102726459503174, 0.21787306666374207], \"ori\": [0.0, 0.0, -0.3420200049877167, 0.9396926760673523]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_cwsigt_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.2271318435668945, -3.8162572383880615, 0.21787306666374207], \"ori\": [0.0, 0.0, -0.3420200049877167, 0.9396926760673523]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_cwsigt_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.086378574371338, -3.0896213054656982, 0.21787306666374207], \"ori\": [0.0, 0.0, 0.04361913353204727, 0.9990482330322266]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_cwsigt_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.202367305755615, -3.903191566467285, 0.21787306666374207], \"ori\": [0.0, 0.0, -0.13052600622177124, 0.9914448857307434]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_cwsigt_6\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.23073959350586, -3.7464029788970947, 0.21787306666374207], \"ori\": [0.0, 0.0, 0.04361913353204727, 0.9990482330322266]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_cwsigt_7\": {\"is_asleep\": false, \"root_link\": {\"pos\": [9.961773872375488, -3.7166988849639893, 0.21787306666374207], \"ori\": [0.0, 0.0, 0.04361913353204727, 0.9990482330322266]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_cwsigt_8\": {\"is_asleep\": false, \"root_link\": {\"pos\": [10.22603988647461, -2.983616828918457, 0.21787306666374207], \"ori\": [0.0, 0.0, -0.46174880862236023, 0.8870107531547546]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_cwsigt_9\": {\"is_asleep\": false, \"root_link\": {\"pos\": [7.675419330596924, -3.2170379161834717, 0.21787306666374207], \"ori\": [0.0, 0.0, -0.46174880862236023, 0.8870107531547546]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_frqici_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [20.75873374938965, 9.86223316192627, 0.9856368899345398], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_frqici_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.027297019958496, 13.455772399902344, 0.9856368899345398], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_frqici_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.298891305923462, 15.796577453613281, 0.9856368899345398], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_frqici_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-15.242820739746094, 0.48821622133255005, 0.9856368899345398], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_frqici_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [20.850187301635742, -3.360307216644287, 0.9856368899345398], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kjakgd_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.7034783363342285, -3.291834592819214, 2.0558624267578125], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kjakgd_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.769996404647827, -3.55696177482605, 2.0558624267578125], \"ori\": [0.0, 0.0, -0.642787754535675, 0.7660443186759949]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_knspbi_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.5200530290603638, -3.2112197875976562, 0.25204479694366455], \"ori\": [0.0, 0.0, 0.8660253882408142, -0.5]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_knspbi_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.59912633895874, -3.1280007362365723, 0.25204479694366455], \"ori\": [0.0, 0.0, 0.8660253882408142, -0.5]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_knspbi_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.925740718841553, -3.5986106395721436, 0.25204479694366455], \"ori\": [0.0, 0.0, 0.8660253882408142, -0.5]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_knspbi_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.483965873718262, -2.894782304763794, 0.25204479694366455], \"ori\": [0.0, 0.0, 0.8660253882408142, -0.5]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_knspbi_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [9.084033012390137, -3.5830323696136475, 0.25204479694366455], \"ori\": [0.0, 0.0, 0.8660253882408142, -0.5]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_knspbi_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [9.486013412475586, -2.9638442993164062, 0.25204479694366455], \"ori\": [0.0, 0.0, 0.8660253882408142, -0.5]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kyghri_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [7.670629501342773, -2.0950727462768555, 0.3707593083381653], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kyghri_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.8797078132629395, -2.000932216644287, 0.3707593083381653], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kyghri_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.005313873291016, -2.117234706878662, 0.3707593083381653], \"ori\": [0.0, 0.0, 0.3826832175254822, 0.9238796234130859]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kyghri_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.0211896896362305, -2.1722192764282227, 0.17698588967323303], \"ori\": [0.0, 0.0, 0.3826832175254822, 0.9238796234130859]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kyghri_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.041856288909912, -2.1108734607696533, 0.3707593083381653], \"ori\": [0.0, 0.0, 0.9848077297210693, 0.17364856600761414]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kyghri_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.0507020950317383, -2.1921541690826416, 0.3707593083381653], \"ori\": [0.0, 0.0, 0.9848077297210693, 0.17364856600761414]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kyghri_6\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.6126000881195068, -2.1862549781799316, 0.3707593083381653], \"ori\": [0.0, 0.0, 0.2588188648223877, 0.9659258723258972]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kyghri_7\": {\"is_asleep\": false, \"root_link\": {\"pos\": [9.238265037536621, -2.1379947662353516, 0.3707593083381653], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_kyghri_8\": {\"is_asleep\": false, \"root_link\": {\"pos\": [10.207281112670898, -2.0928637981414795, 0.3707593083381653], \"ori\": [0.0, 0.0, -0.13052600622177124, 0.9914448857307434]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_lfyqkj_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-8.518165588378906, 0.8348050713539124, 0.44823944568634033], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_lfyqkj_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-7.2602033615112305, 0.756334125995636, 0.44823944568634033], \"ori\": [0.0, 0.0, -0.3007056713104248, 0.9537169933319092]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_lfyqkj_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.046332836151123, 0.7652438879013062, 0.44823944568634033], \"ori\": [0.0, 0.0, -0.8191521763801575, 0.5735762119293213]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_lfyqkj_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.830376625061035, -0.49171385169029236, 0.44823944568634033], \"ori\": [0.0, 0.0, -0.8191521763801575, 0.5735762119293213]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_lfyqkj_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.958502769470215, 14.836939811706543, 0.44823944568634033], \"ori\": [0.0, 0.0, -0.8191521763801575, 0.5735762119293213]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_lfyqkj_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [11.425065040588379, 6.3221306800842285, 0.44823944568634033], \"ori\": [0.0, 0.0, -0.8191521763801575, 0.5735762119293213]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_lfyqkj_6\": {\"is_asleep\": false, \"root_link\": {\"pos\": [18.748220443725586, 13.789291381835938, 0.44823944568634033], \"ori\": [0.0, 0.0, -0.8191521763801575, 0.5735762119293213]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_oedeqi_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [11.990391731262207, 1.0446003675460815, 0.8024067878723145], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_oedeqi_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.749435901641846, 11.006834030151367, 0.8024067878723145], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_oedeqi_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-12.70416259765625, -0.18050512671470642, 0.8024067878723145], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_pjhpwk_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [17.009401321411133, 7.0192670822143555, 1.0555434226989746], \"ori\": [0.023951450362801552, 5.6099916379004355e-12, 2.341456473153869e-10, 0.999713122844696]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_pjhpwk_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [18.217195510864258, 8.513957977294922, 1.055543303489685], \"ori\": [0.023588618263602257, 0.004159354604780674, 0.17359839379787445, 0.984525203704834]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_pjhpwk_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [11.568257331848145, -2.373120069503784, 1.0555437803268433], \"ori\": [0.023588618263602257, 0.00415935181081295, 0.17359839379787445, 0.984525203704834]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_pjhpwk_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [16.462993621826172, 14.776239395141602, 1.055543303489685], \"ori\": [0.02358861453831196, 0.0041593522764742374, 0.17359839379787445, 0.984525203704834]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_pjhpwk_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [7.339567184448242, 10.511612892150879, 1.055543303489685], \"ori\": [0.02358861453831196, 0.0041593522764742374, 0.17359839379787445, 0.984525203704834]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_yhjhta_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-10.279953956604004, 9.903782844543457, 0.046305060386657715], \"ori\": [0.0, 0.0, 0.2588191032409668, 0.9659258127212524]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_yhjhta_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-11.864441871643066, 9.898183822631836, 0.046305060386657715], \"ori\": [0.0, 0.0, 0.8660253882408142, 0.5]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_yhjhta_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.388357639312744, 14.274357795715332, 0.046305060386657715], \"ori\": [0.0, 0.0, 0.8660253882408142, 0.5]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_yhjhta_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.401632308959961, 11.404739379882812, 0.046305060386657715], \"ori\": [0.0, 0.0, 0.976296067237854, 0.21643954515457153]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_yhjhta_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.553346633911133, 10.410916328430176, 0.046305060386657715], \"ori\": [0.0, 0.0, 0.8660253882408142, 0.5]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_yhjhta_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [10.099979400634766, 8.831195831298828, 0.046305060386657715], \"ori\": [0.0, 0.0, 0.976296067237854, 0.21643954515457153]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"bush_yhjhta_6\": {\"is_asleep\": false, \"root_link\": {\"pos\": [15.159998893737793, 15.536238670349121, 0.046305060386657715], \"ori\": [0.0, 0.0, 0.976296067237854, 0.21643954515457153]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"car_xxsgpq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-12.420799255371094, 7.287886619567871, 0.7753021717071533], \"ori\": [0.0, 0.0, 0.0, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-1.6402458818259857e-12], \"joint_vel\": [0.0], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}, \"AttachedTo\": {\"attached_obj_uuid\": -1}}}, \"charcoal_grill_crdaeu_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [15.853635787963867, 11.261885643005371, 0.778302013874054], \"ori\": [9.313225746154785e-10, -1.686202955042404e-09, 0.9961947202682495, 0.08715594559907913], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-9.803002853914222e-11], \"joint_vel\": [0.0], \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}, \"Temperature\": {\"temperature\": 23.0}}}, \"countertop_tpuwys_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.866342067718506, 6.703090190887451, 1.345720648765564], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"dishwasher_ynrhuk_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.157533645629883, 1.0955928564071655, 0.4197513163089752], \"ori\": [-3.4924596548080444e-10, 2.3646862246096134e-11, 1.0, 1.94646418094635e-07], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [2.8478037483063345e-32, 0.0, 1.3806233489788156e-08], \"joint_vel\": [4.787695579825688e-30, 0.0, 4.565272313829249e-13], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}, \"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"fridge_petcxr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.201407432556152, -0.5687666535377502, 0.9560025334358215], \"ori\": [-2.1969897716189735e-05, 1.0645577503964887e-06, 0.70710289478302, 0.7071106433868408], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [3.239350454542489e-11, 4.2807445088666185e-11], \"joint_vel\": [2.6680087294588288e-15, 4.583070034591685e-13], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"microwave_hjjxmi_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.116196632385254, -0.6967947483062744, 1.0086084604263306], \"ori\": [-9.546061718879173e-09, 1.3440147483834153e-07, 0.7071056365966797, 0.7071079015731812], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-7.260664924816746e-25], \"joint_vel\": [3.806322498590136e-24], \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}, \"Temperature\": {\"temperature\": 23.0}}}, \"oven_ffitak_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.911428928375244, -0.6495887041091919, 0.5409926772117615], \"ori\": [2.9802320611338473e-08, -5.465698649231854e-08, 0.7071066498756409, 0.70710688829422], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-2.0869524370355913e-13, 0.0, 0.0], \"joint_vel\": [-2.564392925438752e-12, -1.0258997886925749e-28, -2.170523995290676e-19], \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}, \"Temperature\": {\"temperature\": 23.0}}}, \"toilet_udiezm_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.072304725646973, -0.5223057270050049, 0.33443355560302734], \"ori\": [-7.275957614183426e-12, 0.0, -4.5838532969355583e-10, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-3.603263791941008e-13], \"joint_vel\": [0.0], \"non_kin\": {}}, \"tree_dyymaq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-10.067146301269531, 13.15047836303711, 3.718750476837158], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_dyymaq_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [25.856597900390625, 8.246013641357422, 3.718750476837158], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_dyymaq_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [15.86120891571045, 0.7766780853271484, 3.718750476837158], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_flkzbo_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-15.045402526855469, 10.942527770996094, 3.7822470664978027], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_flkzbo_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.4779255390167236, 15.6276216506958, 3.7822470664978027], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_flkzbo_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-14.009891510009766, 15.8483304977417, 3.7822470664978027], \"ori\": [0.0, 0.0, -0.7071068286895752, 0.7071067094802856]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_gmzozb_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-7.848628520965576, -3.8529858589172363, 4.96766996383667], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_gmzozb_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-10.211121559143066, -3.8487184047698975, 4.96766996383667], \"ori\": [0.0, 0.0, 0.17364798486232758, 0.9848077893257141]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_gmzozb_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-12.947092056274414, -3.6955485343933105, 4.96766996383667], \"ori\": [0.0, 0.0, 0.9659258127212524, 0.2588191032409668]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_gmzozb_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-15.340720176696777, -3.8245351314544678, 4.96766996383667], \"ori\": [0.0, 0.0, 0.42261821031570435, 0.9063078165054321]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_gmzozb_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.14012336730957, -3.8487188816070557, 4.96766996383667], \"ori\": [0.0, 0.0, 0.17364798486232758, 0.9848077893257141]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_rrhqpw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [25.26487922668457, -3.1772687435150146, 3.8583271503448486], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_rrhqpw_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [12.35063362121582, 7.420542240142822, 3.8583271503448486], \"ori\": [0.0, 0.0, 0.4617486596107483, 0.8870108127593994]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_rrhqpw_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [10.967728614807129, 12.327771186828613, 3.8583271503448486], \"ori\": [0.0, 0.0, 0.6087615489959717, 0.793353259563446]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_rrhqpw_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [24.98072052001953, -0.17172983288764954, 3.8583271503448486], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_rrhqpw_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [27.556486129760742, 4.171020030975342, 3.8583271503448486], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_rrhqpw_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [27.302703857421875, 15.761833190917969, 3.8583271503448486], \"ori\": [0.0, 0.0, -0.46174880862236023, 0.8870107531547546]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_wtyipq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-15.631488800048828, 13.495407104492188, 2.2087221145629883], \"ori\": [0.0, 0.0, 0.3826833665370941, 0.9238795638084412]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_wtyipq_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.842702627182007, 11.820091247558594, 2.2087221145629883], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_wtyipq_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [22.203453063964844, -1.4958889484405518, 2.2087221145629883], \"ori\": [0.0, 0.0, 0.3007056713104248, 0.9537169933319092]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_wtyipq_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.6164326667785645, 13.147072792053223, 2.2087221145629883], \"ori\": [0.0, 0.0, -0.46174880862236023, 0.8870107531547546]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_wtyipq_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [26.92013168334961, 0.15607738494873047, 2.2087221145629883], \"ori\": [0.0, 0.0, 0.4617486596107483, 0.8870108127593994]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_wtyipq_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [27.229629516601562, 11.73579216003418, 2.2087221145629883], \"ori\": [0.0, 0.0, -0.6087615489959717, 0.793353259563446]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_wtyipq_6\": {\"is_asleep\": false, \"root_link\": {\"pos\": [17.196401596069336, -3.2711355686187744, 2.2087221145629883], \"ori\": [0.0, 0.0, -0.34202033281326294, 0.9396925568580627]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_wtyipq_7\": {\"is_asleep\": false, \"root_link\": {\"pos\": [21.32419204711914, 16.04673194885254, 2.2087221145629883], \"ori\": [0.0, 0.0, -0.5735765099525452, 0.8191519975662231]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tree_wtyipq_8\": {\"is_asleep\": false, \"root_link\": {\"pos\": [11.983068466186523, 9.985493659973145, 2.2087221145629883], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"wall_nail_wlnail_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.6627116203308105, 8.4920015335083, 1.027417540550232], \"ori\": [-0.5329477787017822, -0.46316641569137573, -0.4600025713443756, 0.5383691191673279], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"AttachedTo\": {\"attached_obj_uuid\": -1}}}, \"wall_nail_wlnail_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.403650283813477, 2.873669385910034, 1.713331699371338], \"ori\": [0.7043592929840088, -0.04934272542595863, 0.7059550881385803, -0.055414069443941116], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"AttachedTo\": {\"attached_obj_uuid\": -1}}}, \"wall_nail_wlnail_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.662712097167969, 2.463681221008301, 1.027417540550232], \"ori\": [0.46316608786582947, -0.5329478979110718, 0.538369357585907, 0.46000245213508606], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"AttachedTo\": {\"attached_obj_uuid\": -1}}}, \"wood_fireplace_gpnsij_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.004481315612793, 6.702439308166504, 0.6518230438232422], \"ori\": [0.0, 0.0, 1.0, 5.52335052361741e-07]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"bar_byvbuc_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.747982501983643, -0.7065714597702026, 0.4014427959918976], \"ori\": [1.6717941662136582e-06, -6.884300205456384e-07, 0.7071069478988647, 0.7071065902709961]}, \"non_kin\": {}}, \"burner_mdanhg_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.905571937561035, -0.674903929233551, 0.8940384387969971], \"ori\": [4.3655745685100555e-11, -5.476502498019675e-12, 0.7071069478988647, 0.7071065902709961], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"shelf_vanltx_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.098334550857544, 7.467351913452148, 1.1991246938705444], \"ori\": [-0.7071066498756409, 0.70710688829422, -1.7167818668895052e-06, -3.340840066812234e-06]}, \"non_kin\": {}}, \"breakfast_table_xftrki_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.2911458015441895, 1.4381656646728516, 0.6256136298179626], \"ori\": [4.05905484512914e-06, 2.2614880435867235e-05, -1.1072244632259753e-07, 1.0], \"lin_vel\": [-1.8443532098899595e-05, -8.26810810394818e-06, -1.3389610103331506e-05], \"ang_vel\": [3.0403902201214805e-05, -5.8222060033585876e-05, -2.1247808490443276e-06]}, \"non_kin\": {}}, \"coffee_table_koagbh_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.519821882247925, 5.290386199951172, 0.36463403701782227], \"ori\": [2.1161022800697538e-07, 1.8343493138672784e-05, -5.908490265937871e-07, 1.0], \"lin_vel\": [-9.781304106581956e-05, -6.860162102384493e-05, -5.443494615064992e-07], \"ang_vel\": [-2.2064898075768724e-05, -4.7957906645024195e-05, -2.8969775485165883e-06]}, \"non_kin\": {}}, \"garden_chair_cottya_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [17.188352584838867, 9.653680801391602, 0.4575159549713135], \"ori\": [-0.0010528414277359843, -2.7658984436129685e-07, 0.9111853241920471, 0.41199541091918945], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"garden_chair_cottya_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [17.796110153198242, 11.159156799316406, 0.45754119753837585], \"ori\": [-0.0008404850377701223, -0.00038315498386509717, 0.9994975328445435, 0.03168351948261261], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"garden_chair_cottya_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [17.39127540588379, 12.77530574798584, 0.4573386311531067], \"ori\": [-0.000997588038444519, -0.0005969553021714091, 0.9486072063446045, -0.31645387411117554], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"garden_chair_lraplz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [14.069025993347168, 11.16181468963623, 0.4360051453113556], \"ori\": [0.0013555840123444796, -0.0005714431754313409, 0.010651513934135437, 0.9999422430992126], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"standing_mirror_wwkuuf_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.9785433411598206, 2.2687032222747803, 0.7087390422821045], \"ori\": [0.03872620314359665, -0.058691684156656265, 0.12976276874542236, 0.9890486598014832], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"straight_chair_hgunnf_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.887570858001709, 1.792851209640503, 0.47285696864128113], \"ori\": [0.0022465887013822794, -0.00020710007811430842, 0.9999974370002747, 2.1660702259396203e-05], \"lin_vel\": [-0.00016176330973394215, 0.000169169987202622, -4.6334876969922334e-05], \"ang_vel\": [-0.0003379904665052891, -0.0003084456257056445, 0.0001582451513968408]}, \"non_kin\": {}}, \"straight_chair_uofiqj_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.4944512844085693, 1.0171157121658325, 0.4733438193798065], \"ori\": [-1.4901162970204496e-08, 6.752087955419483e-08, 0.25882071256637573, 0.965925395488739], \"lin_vel\": [-3.6850469768978655e-05, -1.88619287655456e-05, -1.638353069211007e-06], \"ang_vel\": [6.794484215788543e-05, 9.39445017138496e-05, -2.487341953383293e-05]}, \"non_kin\": {}}, \"straight_chair_uofiqj_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.685436725616455, 1.7886775732040405, 0.4733438789844513], \"ori\": [-3.725290298461914e-08, 5.532637459282341e-08, 2.8614883262889634e-07, 1.0], \"lin_vel\": [-1.7653957911534235e-05, -8.661059837322682e-06, -1.9857732695527375e-05], \"ang_vel\": [-1.0610156095935963e-05, -5.8617020840756595e-05, 1.8019807612290606e-05]}, \"non_kin\": {}}, \"straight_chair_zdhnyg_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.889126777648926, 1.1079013347625732, 0.47330060601234436], \"ori\": [0.003121107816696167, -0.0037847424391657114, 0.9999880194664001, 2.5046991140698083e-05], \"lin_vel\": [0.0002075513475574553, 9.602728096069768e-05, -2.023272645601537e-05], \"ang_vel\": [9.258360660169274e-05, 0.000250362470978871, 0.00023462959507014602]}, \"non_kin\": {}}, \"bar_egwapq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.151969909667969, 0.15750814974308014, 0.4490511119365692], \"ori\": [1.3114304072894952e-15, 4.177641343972027e-09, 1.0, 3.1391647326017846e-07]}, \"non_kin\": {}}, \"bottom_cabinet_rhdbzv_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.260105133056641, 4.522088527679443, 0.21441000699996948], \"ori\": [-9.960494935512543e-07, 7.512605861847987e-07, 1.0, -1.9470462575554848e-07], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [1.1849066866576052e-11, 1.1674738432942977e-11], \"joint_vel\": [-1.5609622717694687e-27, 5.0645948635957815e-26], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"car_ssxsje_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.43150520324707, 6.887782573699951, 0.6677820682525635], \"ori\": [0.0, 0.0, 0.0, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [1.1961155677031599e-10], \"joint_vel\": [0.0], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}, \"AttachedTo\": {\"attached_obj_uuid\": -1}}}, \"ceilings_alydei_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.9036145210266113, 1.5060296058654785, 2.546888589859009], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"ceilings_aoekre_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [7.520022869110107, 5.557386875152588, 2.513519525527954], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"ceilings_feolie_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.2406875193119049, 3.329909324645996, 2.546888589859009], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"ceilings_isizwh_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.255151748657227, 5.478974342346191, 2.513519525527954], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"ceilings_kbxtoc_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.136273384094238, 1.377645492553711, 2.513519525527954], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"ceilings_sbkyof_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.718851089477539, 5.511994361877441, 2.513519525527954], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"ceilings_vkfllw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.954075336456299, -0.1620907038450241, 2.513519525527954], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"decorative_sign_hgonwj_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.910258173942566, 7.547131061553955, 1.4864343404769897], \"ori\": [-0.5, 0.5, 0.5000000596046448, -0.4999999403953552]}, \"non_kin\": {}}, \"decorative_sign_rypeha_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.3227729797363281, 0.21013908088207245, 1.535016655921936], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"decorative_sign_xzsmxq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.3330638408660889, 3.47764253616333, 1.714901328086853], \"ori\": [7.130104222596856e-07, 0.0020132323261350393, -2.5964516225940315e-06, 0.9999979734420776]}, \"non_kin\": {}}, \"door_bexenl_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.886465072631836, 2.3801634311676025, 1.1881227493286133], \"ori\": [-6.518303621305677e-07, -3.084875061176717e-05, -0.7104465365409851, 0.7037512063980103], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-1.0186665137093063e-18], \"joint_vel\": [0.0], \"non_kin\": {}}, \"door_bexenl_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.0018343925476074, 0.7760968208312988, 1.1881228685379028], \"ori\": [3.083581032115035e-05, -6.060622581571806e-07, 0.7042463421821594, 0.7099557518959045], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [3.789185795916115e-15], \"joint_vel\": [0.0], \"non_kin\": {}}, \"door_vudhlc_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.11536934971809387, 7.761946678161621, 1.1729766130447388], \"ori\": [-2.0066216166014783e-05, -0.0004578114894684404, -0.7034237384796143, 0.7107706665992737], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [1.5931364316656982e-07], \"joint_vel\": [0.0], \"non_kin\": {}}, \"door_vudhlc_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.11318013072013855, -1.1897296905517578, 1.1729762554168701], \"ori\": [0.00045759606291539967, -1.9944976884289645e-05, 0.710751473903656, 0.7034431099891663], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [1.5919859208679554e-07], \"joint_vel\": [0.0], \"non_kin\": {}}, \"door_vudhlc_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [7.709315776824951, 3.4284281730651855, 1.173406958580017], \"ori\": [0.00045784248504787683, -2.0075971406186e-05, 0.7107710242271423, 0.7034233212471008], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [1.462661547435573e-09], \"joint_vel\": [-5.706523984903497e-14], \"non_kin\": {}}, \"door_vudhlc_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.699669361114502, 7.66694450378418, 1.1734071969985962], \"ori\": [0.00045782755478285253, -2.0083334675291553e-05, 0.7107709646224976, 0.7034233808517456], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [1.4631708067369686e-09], \"joint_vel\": [7.161600739519214e-12], \"non_kin\": {}}, \"downlight_pawfmw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.651690661907196, 6.911736011505127, 2.1672098636627197], \"ori\": [1.4272956150307436e-08, 8.62497770981463e-08, 0.9865825176239014, 0.16326361894607544]}, \"non_kin\": {}}, \"downlight_pawfmw_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.6516902446746826, 2.7649075984954834, 2.1672098636627197], \"ori\": [1.4272956150307436e-08, 8.62497770981463e-08, 0.9865825176239014, 0.16326361894607544]}, \"non_kin\": {}}, \"downlight_pawfmw_10\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.7691171169281006, 7.305008888244629, 2.340092658996582], \"ori\": [8.102612980565027e-08, 3.282541527482863e-08, 0.3754790425300598, 0.9268308877944946]}, \"non_kin\": {}}, \"downlight_pawfmw_11\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.9526619911193848, 7.304922580718994, 2.340092658996582], \"ori\": [8.183096156244574e-08, 3.076413435110226e-08, 0.35190078616142273, 0.9360373020172119]}, \"non_kin\": {}}, \"downlight_pawfmw_12\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.5523812770843506, 6.563607215881348, 2.340092658996582], \"ori\": [2.9900355968948134e-08, 8.215054947413591e-08, 0.9396926164627075, 0.342020183801651]}, \"non_kin\": {}}, \"downlight_pawfmw_13\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.5522295236587524, 5.746274948120117, 2.340092658996582], \"ori\": [3.408305815355561e-08, 8.050520250435511e-08, 0.920872151851654, 0.3898646831512451]}, \"non_kin\": {}}, \"downlight_pawfmw_14\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.5523133277893066, 4.929818153381348, 2.340092658996582], \"ori\": [3.610970011891368e-08, 7.961676828927011e-08, 0.910709798336029, 0.41304683685302734]}, \"non_kin\": {}}, \"downlight_pawfmw_15\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.119497776031494, 3.7024524211883545, 2.340092658996582], \"ori\": [8.609458745922893e-08, -1.5180788182078686e-08, -0.17364798486232758, 0.9848077893257141]}, \"non_kin\": {}}, \"downlight_pawfmw_16\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.119524002075195, 4.519840717315674, 2.340092658996582], \"ori\": [7.894188058799045e-08, -3.756215605221769e-08, -0.4296610951423645, 0.9029902219772339]}, \"non_kin\": {}}, \"downlight_pawfmw_17\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.119430065155029, 5.336262226104736, 2.340092658996582], \"ori\": [7.961677539469747e-08, -3.610969301348632e-08, -0.4130469262599945, 0.9107097387313843]}, \"non_kin\": {}}, \"downlight_pawfmw_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.651690661907196, 5.894435405731201, 2.1672098636627197], \"ori\": [1.4272956150307436e-08, 8.62497770981463e-08, 0.9865825176239014, 0.16326361894607544]}, \"non_kin\": {}}, \"downlight_pawfmw_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.651690661907196, 4.915513515472412, 2.1672098636627197], \"ori\": [1.4272956150307436e-08, 8.62497770981463e-08, 0.9865825176239014, 0.16326361894607544]}, \"non_kin\": {}}, \"downlight_pawfmw_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.9079089760780334, 0.37542954087257385, 2.165252923965454], \"ori\": [1.4272956150307436e-08, 8.62497770981463e-08, 0.9865825176239014, 0.16326361894607544]}, \"non_kin\": {}}, \"downlight_pawfmw_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.9079068899154663, -0.6004335880279541, 2.165252923965454], \"ori\": [1.4272956150307436e-08, 8.62497770981463e-08, 0.9865825176239014, 0.16326361894607544]}, \"non_kin\": {}}, \"downlight_pawfmw_6\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.012056827545166, 1.5348767042160034, 2.337745189666748], \"ori\": [1.4272956150307436e-08, 8.62497770981463e-08, 0.9865825176239014, 0.16326361894607544]}, \"non_kin\": {}}, \"downlight_pawfmw_7\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.6700336933135986, 1.5348725318908691, 2.337745189666748], \"ori\": [1.4272956150307436e-08, 8.62497770981463e-08, 0.9865825176239014, 0.16326361894607544]}, \"non_kin\": {}}, \"downlight_pawfmw_8\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.6516903638839722, 3.740774631500244, 2.1672098636627197], \"ori\": [1.4272956150307436e-08, 8.62497770981463e-08, 0.9865825176239014, 0.16326361894607544]}, \"non_kin\": {}}, \"downlight_pawfmw_9\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.586454153060913, 7.3048858642578125, 2.340092658996582], \"ori\": [7.754493935863138e-08, 4.0367343245861775e-08, 0.46174880862236023, 0.8870107531547546]}, \"non_kin\": {}}, \"downlight_pxrmnt_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.254535436630249, 0.05484727770090103, 2.244318723678589], \"ori\": [-0.2705981731414795, 0.2705982029438019, 0.6532815098762512, 0.6532813310623169]}, \"non_kin\": {}}, \"downlight_pxrmnt_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.9484200477600098, 0.05484727770090103, 2.244318723678589], \"ori\": [-0.2705981731414795, 0.2705982029438019, 0.6532815098762512, 0.6532813310623169]}, \"non_kin\": {}}, \"downlight_pxrmnt_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.642568588256836, 0.054846182465553284, 2.244318723678589], \"ori\": [-0.2705981731414795, 0.2705982029438019, 0.6532815098762512, 0.6532813310623169]}, \"non_kin\": {}}, \"driveway_umalys_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-12.69985294342041, 5.707181453704834, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"drop_in_sink_hecjnt_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.4872028827667236, -0.7013636231422424, 0.8735276460647583], \"ori\": [0.0, 0.0, 0.7071059942245483, 0.7071075439453125]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}, \"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"drop_in_sink_lkklqs_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.109147071838379, 0.23475468158721924, 0.8585090637207031], \"ori\": [1.3114304072894952e-15, 4.177641343972027e-09, 1.0, 3.1391647326017846e-07]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}, \"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"electric_switch_strbnw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.4436075687408447, 3.9397165775299072, 1.1495720148086548], \"ori\": [0.0012304183328524232, -0.03238895535469055, -0.010893194936215878, 0.9994152188301086], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"electric_switch_strbnw_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.7511515021324158, 7.569955348968506, 1.1495720148086548], \"ori\": [-0.022033199667930603, -0.02377314306795597, -0.7143961191177368, 0.6989904046058655], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"electric_switch_strbnw_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.6418156027793884, 7.569954872131348, 1.1495720148086548], \"ori\": [-0.022033199667930603, -0.02377314306795597, -0.7143961191177368, 0.6989904046058655], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"electric_switch_strbnw_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.4436075687408447, 4.028299331665039, 1.1495718955993652], \"ori\": [0.0012304183328524232, -0.03238895535469055, -0.010893194936215878, 0.9994152188301086], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"fixed_window_kvdqep_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.908116102218628, -1.0693415403366089, 1.2367674112319946], \"ori\": [1.3410273425051855e-07, -1.3410284793735627e-07, -0.7071072459220886, 0.7071062922477722]}, \"non_kin\": {}}, \"fixed_window_lhzwtz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.54767894744873, 1.8719654083251953, 1.0577043294906616], \"ori\": [4.371139183945161e-08, -4.371138473402425e-08, 1.0, -7.549789415861596e-08]}, \"non_kin\": {}}, \"floors_ghetev_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [15.194725036621094, 9.549063682556152, -0.08061301708221436], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_irvmpb_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.173818111419678, 1.31890070438385, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_iwsyoz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-7.896538257598877, -3.7630395889282227, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_nbxnpk_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.369476318359375, 5.505799293518066, -0.15000003576278687], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_ogynye_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.010512351989746, 6.217711925506592, -0.1494276523590088], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_qadhjb_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-8.231354713439941, -1.8533318042755127, -0.15000005066394806], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_sdejoi_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.0175507068634033, 1.5060408115386963, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_slmyas_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.015613555908203, 9.062435150146484, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_ulujpr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.866909980773926, 5.666343688964844, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_xkkysf_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.0167768001556396, -0.23164819180965424, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_xorxro_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.2026587724685669, 3.3603272438049316, -0.15000005066394806], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"floors_zqjkvm_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.8314337730407715, 1.1399084329605103, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"garage_door_prdjyt_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-7.895504951477051, 5.455986022949219, 2.098114013671875], \"ori\": [-2.9103826987286752e-11, 0.0, 0.0, 1.0], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-1.644844959021452e-12, -1.7962357946529894e-12], \"joint_vel\": [0.0, 0.0], \"non_kin\": {}}, \"garden_light_qyfrwj_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [13.082374572753906, 10.527153968811035, 0.4406197667121887], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"garden_light_qyfrwj_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [17.41649627685547, 13.705216407775879, 0.4406197667121887], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"garden_light_qyfrwj_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [14.119112968444824, 13.437567710876465, 0.4406197667121887], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"garden_light_qyfrwj_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [16.393651962280273, 8.33052921295166, 0.543748676776886], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"garden_light_qyfrwj_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [18.723386764526367, 10.621943473815918, 0.4406197667121887], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"garden_light_qyfrwj_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [10.549521446228027, 7.668270587921143, 0.5439923405647278], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"garden_light_qyfrwj_6\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-15.0800199508667, 2.1115520000457764, 0.5089493989944458], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"garden_light_qyfrwj_7\": {\"is_asleep\": false, \"root_link\": {\"pos\": [10.549521446228027, 7.668270587921143, 0.5439923405647278], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"garden_light_qyfrwj_8\": {\"is_asleep\": false, \"root_link\": {\"pos\": [10.549521446228027, -1.1384243965148926, 0.5439923405647278], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"hall_tree_daxzaw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.1914749145507812, -0.2079654037952423, 0.9663193225860596], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"hall_tree_upkvgr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.0774564743041992, 5.3776960372924805, 1.1423906087875366], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"hook_akwlam_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.4231228828430176, 0.6632356643676758, 1.0937546491622925], \"ori\": [0.4999999403953552, 0.5, -0.4999999403953552, 0.5000001192092896]}, \"non_kin\": {}}, \"lawn_aztwla_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [11.144706726074219, 7.921620845794678, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"lawn_srfikq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-14.415989875793457, 1.0884172916412354, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"lawn_tiqndr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-7.1791205406188965, 0.20979198813438416, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"lawn_zjtrpt_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.791261672973633, -2.7255196571350098, -0.15000006556510925], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"mirror_edxfnt_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.48703932762146, -0.9680357575416565, 1.4609739780426025], \"ori\": [-5.268318670204053e-09, -6.84886529711548e-08, 0.7071077823638916, 0.7071057558059692]}, \"non_kin\": {}}, \"motion_sensor_aecflf_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.0119998455047607, 0.6473510265350342, 1.120005488395691], \"ori\": [0.7070801854133606, -0.006170725449919701, 0.006170394830405712, 0.7070795297622681]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"paver_eskaca_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-13.689250946044922, 1.2405089139938354, 0.04245743155479431], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"paver_lmdfdn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-7.249168872833252, 0.2803964912891388, 0.022317148745059967], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"paver_sekqqq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-0.10262751579284668, 2.182325839996338, -0.016032814979553223], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"picture_ekagyj_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.2276611328125, 5.6449127197265625, 1.5179249048233032], \"ori\": [-0.00021770590683445334, 0.706889271736145, -0.00021770602324977517, 0.707324206829071]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_ggajdz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.906806230545044, 7.557434558868408, 1.0779438018798828], \"ori\": [-0.5, 0.5, 0.5, 0.5]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_hffaxw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.6240010261535645, 0.6331614255905151, 1.6850851774215698], \"ori\": [0.4990296959877014, 0.4990028738975525, -0.5009949803352356, 0.5009686350822449]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_jnecmu_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.9959433674812317, 4.3721418380737305, 1.5021156072616577], \"ori\": [-0.7068889141082764, 0.000269129901425913, 0.7073245644569397, -0.00016625226999167353]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_qlkknu_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.9959485530853271, 6.643787384033203, 1.3490948677062988], \"ori\": [-0.7068889141082764, 0.0002689510874915868, 0.7073245644569397, -0.00016641619731672108]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_qlsyco_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.1342577934265137, 7.55281400680542, 1.092362403869629], \"ori\": [-0.5000000596046448, 0.4999999403953552, 0.4999999403953552, 0.5000000596046448]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_tveyoh_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.9959511160850525, 5.612113952636719, 1.4460172653198242], \"ori\": [-0.7068891525268555, 0.00028620651573874056, 0.7073243260383606, -0.0001488030538894236]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"picture_yzbpie_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.995965301990509, 5.087554931640625, 1.1189029216766357], \"ori\": [-0.7068889737129211, 0.00028601280064322054, 0.7073245048522949, -0.00014919044042471796]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"playground_xdlcdi_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [23.416954040527344, 13.086623191833496, 2.053555488586426], \"ori\": [-9.533422371532652e-07, 7.544517899304992e-09, -0.007910998538136482, 0.9999687075614929]}, \"non_kin\": {}}, \"rail_fence_owbrvb_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [17.939146041870117, 17.680978775024414, 0.6696560382843018], \"ori\": [0.0011985187884420156, 0.0012313827173784375, -0.706998348236084, 0.7072131037712097]}, \"non_kin\": {}}, \"rail_fence_owbrvb_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [29.422842025756836, 6.0019850730896, 0.6695229411125183], \"ori\": [-0.0017182630253955722, -2.2979389541433193e-05, 0.9999985098838806, -0.00014101977285463363]}, \"non_kin\": {}}, \"rail_fence_owbrvb_2\": {\"is_asleep\": false, \"root_link\": {\"pos\": [18.045509338378906, -5.468871116638184, 0.6697246432304382], \"ori\": [-0.0012313572224229574, 0.0011984965531155467, 0.7072129249572754, 0.7069985270500183]}, \"non_kin\": {}}, \"rail_fence_owbrvb_3\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.005260944366455, -5.468219757080078, 0.6693981885910034], \"ori\": [-0.0012313572224229574, 0.0011984965531155467, 0.7072129249572754, 0.7069985270500183]}, \"non_kin\": {}}, \"rail_fence_owbrvb_4\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-5.111202716827393, 17.680986404418945, 0.6696600317955017], \"ori\": [0.0011985187884420156, 0.0012313827173784375, -0.706998348236084, 0.7072131037712097]}, \"non_kin\": {}}, \"rail_fence_owbrvb_5\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-16.53952407836914, 6.223880290985107, 0.6695227026939392], \"ori\": [-2.3009368305793032e-05, 0.001720378641039133, 0.00014141338760964572, 0.9999985098838806]}, \"non_kin\": {}}, \"range_hood_xvdfpp_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.9097795486450195, -0.9177923798561096, 1.821560263633728], \"ori\": [1.2178898167736207e-10, 1.2178895392178646e-10, 0.7071068286895752, 0.7071067094802856]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"roof_pgwmer_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.076505422592163, 2.6357133388519287, 5.219618320465088], \"ori\": [-6.30734409146072e-10, 6.307349087464331e-10, 0.7071066498756409, 0.70710688829422]}, \"non_kin\": {}}, \"room_light_eqbjaz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.276165008544922, 5.5935587882995605, 1.7559911012649536], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"room_light_kiuayi_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.220686912536621, 1.1139496564865112, 2.0094308853149414], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"sofa_frlxgz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.9035032987594604, 6.052554130554199, 0.276924192905426], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {\"ModifiedParticles\": {\"n_systems\": 0}, \"Saturated\": {\"n_systems\": 0, \"default_visual_particle_limit\": 200, \"default_physical_particle_limit\": 400}, \"ParticleRemover\": {\"current_step\": 0}}}, \"stairs_tikozn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.0531527996063232, 0.6303675770759583, 1.8382233381271362], \"ori\": [0.0, 0.0, 1.0, 7.549790126404332e-08]}, \"non_kin\": {}}, \"swing_set_yzhrgz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.9367271661758423, 13.04601001739502, 1.285752534866333], \"ori\": [-4.231687489664182e-05, 6.913520337548107e-06, 0.7071068286895752, 0.7071067094802856]}, \"non_kin\": {}}, \"top_cabinet_tynnnw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.30424976348877, -0.3730410933494568, 1.8874198198318481], \"ori\": [0.0, 4.49618077144609e-12, 1.0, 1.1483833759484696e-06], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-4.261819500600029e-21, 2.3400256884097137e-13], \"joint_vel\": [-3.8334855076983247e-20, 6.952472900842899e-18], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"top_cabinet_tynnnw_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.304250717163086, 0.8304481506347656, 1.8874198198318481], \"ori\": [0.0, 4.496402816051015e-12, 1.0, 1.3868019550500321e-06], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-4.8155930907940564e-21, 2.342917797704819e-13], \"joint_vel\": [-3.7911338603356097e-20, 6.952472900842899e-18], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"track_light_ltnnrc_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.304345607757568, 2.0552871227264404, 2.293074131011963], \"ori\": [3.647477342383354e-08, -3.64747627656925e-08, -0.7071066498756409, 0.70710688829422]}, \"non_kin\": {}}, \"track_light_ltnnrc_1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.30434513092041, 0.6291348934173584, 2.293074131011963], \"ori\": [3.647477342383354e-08, -3.64747627656925e-08, -0.7071066498756409, 0.70710688829422]}, \"non_kin\": {}}, \"wall_mounted_light_mbhxbg_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.4928293228149414, -0.9520183205604553, 1.8020007610321045], \"ori\": [0.0, 0.0, 0.7071068286895752, 0.7071067094802856]}, \"non_kin\": {}}, \"wall_mounted_tv_dxyfxf_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.38406229019165, 4.4892754554748535, 1.3020511865615845], \"ori\": [4.371138118131057e-08, -4.3711395392165286e-08, 1.0, 1.9470718370939721e-07]}, \"non_kin\": {\"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"wall_socket_nujxel_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.0073962211608887, 7.370497226715088, 0.17663566768169403], \"ori\": [-1.685874053691805e-07, -0.7071068286895752, -1.6858737694747106e-07, 0.7071067094802856]}, \"non_kin\": {}}, \"walls_abtbfo_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.899403989315033, 0.5445684790611267, 1.3484432697296143], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_bjekee_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.238336563110352, 6.7025065422058105, 1.41874361038208], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_buhmrc_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.31728968024253845, 8.28236198425293, 2.513519525527954], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_chmqjn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.0086231231689453, 0.7558910250663757, 2.373765468597412], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_cvdpaq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-7.114837169647217, 2.330291509628296, 1.293397307395935], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_cxsmhr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.9714878797531128, -1.1004434823989868, 1.3484432697296143], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_dewyls_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [3.901817798614502, -1.100443720817566, 2.513519287109375], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_dlfarz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.52174186706543, 5.563309192657471, 1.3484431505203247], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_epketb_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.887902021408081, 2.3541018962860107, 2.373765468597412], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_fwsbwf_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.5145368576049805, 0.5360475182533264, 1.2873893976211548], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_gishpf_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.538812637329102, 5.666343688964844, 2.513519287109375], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_hcbqvq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.3751676082611084, -2.0040204524993896, 1.2828558683395386], \"ori\": [0.0, 0.0, 1.0, 7.549790126404332e-08]}, \"non_kin\": {}}, \"walls_jemunw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.623449802398682, -1.103598713874817, 1.3484432697296143], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_jglkyp_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-9.126346588134766, 5.480226993560791, 1.3484431505203247], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_jnbgxj_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.605769157409668, 7.693531036376953, 2.513519287109375], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_jzwmhx_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.538814544677734, 2.9117226600646973, 1.3484431505203247], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_lblwvg_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.2257602214813232, 3.982853651046753, 1.3484433889389038], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_lovfhw_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-4.390817642211914, -2.004019260406494, 1.28285551071167], \"ori\": [0.0, 0.0, 1.0, 7.549790126404332e-08]}, \"non_kin\": {}}, \"walls_mgumxz_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.538814544677734, 1.8723160028457642, 2.513519287109375], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_mgvxov_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.46843433380127, -2.004021167755127, 1.28285551071167], \"ori\": [0.0, 0.0, 1.0, 7.549790126404332e-08]}, \"non_kin\": {}}, \"walls_miltge_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-6.082330226898193, 8.654457092285156, 1.3028624057769775], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_mkgplc_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [7.594769477844238, 7.698404312133789, 2.513519287109375], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_mwlvfb_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.2233578860759735, 7.6935319900512695, 2.513519287109375], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_oiagxk_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.4820524454116821, 8.164472579956055, 1.3484430313110352], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_oqrbxo_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.4573912620544434, 4.8287200927734375, 1.3484431505203247], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_owxeej_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.46563720703125, -0.06503704935312271, 1.3484431505203247], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_paarsl_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-9.12635612487793, 4.021864891052246, 2.513519287109375], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_pmygxs_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-1.0308233499526978, 7.68658447265625, 1.3484432697296143], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_qeofms_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.398054838180542, 0.7558919787406921, 1.3484430313110352], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_rrabdp_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.976871490478516, 7.701404571533203, 1.3484431505203247], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_uiloru_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [0.008785522542893887, -1.1004430055618286, 2.513519287109375], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_umqqmh_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.6524200439453125, 3.409116506576538, 1.3484431505203247], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_upttgq_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [8.543468475341797, 0.1486157327890396, 1.3484431505203247], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_vxveul_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [1.1102089881896973, 5.834742546081543, 1.3484430313110352], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_weybsr_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.496758460998535, 2.3396568298339844, 1.3484432697296143], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_xsubff_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [7.620049953460693, 3.419678211212158, 2.513519287109375], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_xyrbgy_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-2.6603317260742188, -1.1554911136627197, 1.2870962619781494], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_ylpkth_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [2.4094693660736084, 7.693531036376953, 1.3484431505203247], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_zdhaff_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-9.126336097717285, 6.9386186599731445, 2.513519287109375], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"washer_ziomqg_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [-3.9653077125549316, 0.3324632942676544, 0.5006033778190613], \"ori\": [-0.0005396500346250832, -0.0008071316406130791, 0.001729516196064651, 0.9999980330467224], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-4.858955284677847e-18], \"joint_vel\": [0.0], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}, \"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"can_of_soda_113\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.243434906005859, 6.99073600769043, 0.06461404263973236], \"ori\": [-0.0003708659205585718, 0.00017513676721137017, 0.5866429209709167, 0.8098456263542175], \"lin_vel\": [0.0002733730070758611, 0.00012652802979573607, -1.1499275387905072e-05], \"ang_vel\": [-0.0026498103979974985, 0.0038212863728404045, 0.0005127850454300642]}, \"non_kin\": {}}, \"can_of_soda_114\": {\"is_asleep\": false, \"root_link\": {\"pos\": [4.673210144042969, 7.169313907623291, 0.07145719230175018], \"ori\": [8.868192526279017e-05, -0.00017777978791855276, 0.9931164979934692, 0.11713089048862457], \"lin_vel\": [-0.0004864000075031072, 0.000641512917354703, -1.6261185010080226e-05], \"ang_vel\": [-0.004002026282250881, -0.0022223663982003927, -0.00398449320346117]}, \"non_kin\": {}}, \"can_of_soda_115\": {\"is_asleep\": false, \"root_link\": {\"pos\": [5.126430034637451, 3.9581027030944824, 0.07145725935697556], \"ori\": [-9.892845991998911e-05, -0.00015346887812484056, 0.44073039293289185, 0.8976395726203918], \"lin_vel\": [-0.0007986109703779221, -0.00013988791033625603, -5.49539145140443e-05], \"ang_vel\": [0.003500301158055663, -0.011594447307288647, -0.00022539710334967822]}, \"non_kin\": {}}, \"trash_can_116\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.5081706047058105, 1.2269515991210938, 0.1348358690738678], \"ori\": [-4.852190045312454e-07, -1.0196089306191425e-06, 0.9324679374694824, 0.3612527847290039], \"lin_vel\": [6.316284270724282e-06, -4.001267734565772e-05, -2.485020104359137e-06], \"ang_vel\": [0.00014558021211996675, 4.472250657272525e-05, -0.00010623074194882065]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"robot_r1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.1107177734375, 1.5191650390625, 0.003753662109375], \"ori\": [0.004324103239923716, -0.0026167966425418854, -0.335495263338089, 0.9420283436775208], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [4.190584604657488e-06, 6.37436896795407e-05, 0.001899486524052918, -0.00784557405859232, 0.001063805422745645, 3.653142266557552e-05, 1.0249817371368408, -1.450037956237793, -0.4700127840042114, 9.357087265016162e-07, 2.383327591815032e-05, 1.7078558812499978e-05, -5.764124466622889e-07, -1.0605502893668017e-06, -1.324556978943292e-05, -1.8597809685161337e-05, -1.596633296685468e-06, 6.5908775468415115e-06, -6.31581679044757e-06, -9.992578270612285e-06, 2.726697402977152e-06, -3.965856478771457e-07, -3.2632592592563014e-06, -1.878231046248402e-06, 0.049999989569187164, 0.04999999329447746, 0.04999975487589836, 0.04999995604157448], \"joint_vel\": [0.0006153839058242738, 0.0006321496330201626, -0.024115649983286858, -0.1305435448884964, 0.07220273464918137, -0.0006482411990873516, 0.004379136487841606, 0.003336175810545683, 0.0016000678297132254, 0.0010086465626955032, -0.0019400134915485978, -0.001348920282907784, 4.935043034492992e-05, 0.00012605827942024916, 0.003126867115497589, 0.0032393524888902903, -1.612313644727692e-05, -0.0005025741411373019, -0.0004306160844862461, 4.674075171351433e-06, -1.242387224920094e-05, -0.00012150941620348021, -0.0009675933397375047, -0.001193943084217608, 3.927226134692319e-05, -2.5616413040552288e-05, 5.377190245781094e-05, 3.2745738280937076e-06], \"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\": [[2.8849741283920594e-05, 1.4943136648071231e-06], [1.2130527466069907e-05, 2.090468115056865e-06], [-7.599591754114954e-06, 4.023313522338867e-06], [4.4703480739372026e-07, -2.1010635464335792e-05], [1.4305113836599048e-05, 1.296400932915276e-05]], \"current_idx\": 4, \"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\": [[2.4508763090125285e-05, 1.3708197457162896e-06], [3.313980414532125e-07, 1.9042945496039465e-06], [-2.235173951703473e-06, 3.576278459149762e-06], [2.235173951703473e-06, -1.6987323760986328e-05], [2.190470513596665e-05, 7.599591754114954e-06]], \"current_idx\": 4, \"fully_filled\": true}}}, \"non_kin\": {}, \"ag_obj_constraint_params\": {\"left\": {}, \"right\": {}}}}}}}, \"type\": \"InteractiveTraversableScene\", \"scene_model\": \"house_double_floor_lower\", \"load_room_types\": null, \"load_room_instances\": [\"corridor_0\", \"garden_0\", \"kitchen_0\", \"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\": [6.1107177734375, 1.5191650390625, 0.003753662109375], \"orientation\": [0.004324102774262428, -0.0026167959440499544, -0.3354952037334442, 0.9420283436775208], \"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\": \"picking_up_trash\", \"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\": \"719d4673fcfcd9c58847520d3ed5c95e58f2e14c\"\n        },\n        \"bddl\": {\n            \"version\": \"3.7.0a0\",\n            \"git_hash\": \"719d4673fcfcd9c58847520d3ed5c95e58f2e14c\"\n        },\n        \"og_dataset\": {\n            \"version\": \"3.7.0rc22\"\n        },\n        \"assets\": {\n            \"version\": null,\n            \"git_hash\": \"edec88373641efb1afc2feacea287bd31a51f16a\"\n        }\n    },\n    \"metadata\": {\n        \"inst_to_name\": {\n            \"agent.n.01_1\": \"robot_r1\",\n            \"ashcan.n.01_1\": \"trash_can_116\",\n            \"can__of__soda.n.01_1\": \"can_of_soda_115\",\n            \"can__of__soda.n.01_2\": \"can_of_soda_114\",\n            \"can__of__soda.n.01_3\": \"can_of_soda_113\",\n            \"floor.n.01_1\": \"floors_ulujpr_0\",\n            \"floor.n.01_2\": \"floors_zqjkvm_0\"\n        },\n        \"task\": {\n            \"inst_to_name\": {\n                \"agent.n.01_1\": \"robot_r1\",\n                \"ashcan.n.01_1\": \"trash_can_116\",\n                \"can__of__soda.n.01_1\": \"can_of_soda_115\",\n                \"can__of__soda.n.01_2\": \"can_of_soda_114\",\n                \"can__of__soda.n.01_3\": \"can_of_soda_113\",\n                \"floor.n.01_1\": \"floors_ulujpr_0\",\n                \"floor.n.01_2\": \"floors_zqjkvm_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                \"bush_cwsigt_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.309931516647339,\n                            -3.0563852787017822,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_cwsigt_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.1376190185546875,\n                            -3.686838388442993,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_cwsigt_10\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.96783447265625,\n                            -2.8315067291259766,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.46174877882003784,\n                            0.8870107531547546\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_cwsigt_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.701294422149658,\n                            -3.102726459503174,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.3420200049877167,\n                            0.9396926760673523\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_cwsigt_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.2271318435668945,\n                            -3.8162572383880615,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.3420200049877167,\n                            0.9396926760673523\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_cwsigt_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.086378574371338,\n                            -3.0896213054656982,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.043619126081466675,\n                            0.9990482330322266\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_cwsigt_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.20236873626709,\n                            -3.9031920433044434,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.13052600622177124,\n                            0.9914448857307434\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_cwsigt_6\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.23073959350586,\n                            -3.7464029788970947,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.043619126081466675,\n                            0.9990482330322266\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_cwsigt_7\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            9.961773872375488,\n                            -3.7166988849639893,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.043619126081466675,\n                            0.9990482330322266\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_cwsigt_8\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            10.22603988647461,\n                            -2.983616828918457,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.46174877882003784,\n                            0.8870107531547546\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_cwsigt_9\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.675420761108398,\n                            -3.217038631439209,\n                            0.21787306666374207\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.46174877882003784,\n                            0.8870107531547546\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_frqici_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.75873374938965,\n                            9.86223316192627,\n                            0.9856368899345398\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_frqici_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.027297019958496,\n                            13.455772399902344,\n                            0.9856368899345398\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_frqici_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.298891305923462,\n                            15.796577453613281,\n                            0.9856368899345398\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_frqici_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -15.242820739746094,\n                            0.48821622133255005,\n                            0.9856368899345398\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_frqici_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.850187301635742,\n                            -3.360307216644287,\n                            0.9856368899345398\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kjakgd_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.7034783363342285,\n                            -3.291834592819214,\n                            2.0558624267578125\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kjakgd_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.76999568939209,\n                            -3.5569615364074707,\n                            2.0558624267578125\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.642787754535675,\n                            0.7660443186759949\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_knspbi_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.5200530290603638,\n                            -3.2112197875976562,\n                            0.25204479694366455\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8660253882408142,\n                            -0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_knspbi_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.59912633895874,\n                            -3.1280007362365723,\n                            0.25204479694366455\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8660253882408142,\n                            -0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_knspbi_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.925739288330078,\n                            -3.5986108779907227,\n                            0.25204479694366455\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8660253882408142,\n                            -0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_knspbi_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.483965873718262,\n                            -2.894782543182373,\n                            0.25204479694366455\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8660253882408142,\n                            -0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_knspbi_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            9.084033012390137,\n                            -3.5830323696136475,\n                            0.25204479694366455\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8660253882408142,\n                            -0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_knspbi_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            9.486013412475586,\n                            -2.9638442993164062,\n                            0.25204479694366455\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8660253882408142,\n                            -0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kyghri_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.670629501342773,\n                            -2.0950727462768555,\n                            0.3707593083381653\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kyghri_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.8797078132629395,\n                            -2.000932216644287,\n                            0.3707593083381653\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kyghri_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.005313873291016,\n                            -2.1172375679016113,\n                            0.3707593083381653\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.3826832175254822,\n                            0.9238796234130859\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kyghri_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.0211896896362305,\n                            -2.172220230102539,\n                            0.17698588967323303\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.3826832175254822,\n                            0.9238796234130859\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kyghri_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.041856288909912,\n                            -2.1108734607696533,\n                            0.3707593083381653\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9848076701164246,\n                            0.17364856600761414\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kyghri_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.0507020950317383,\n                            -2.1921541690826416,\n                            0.3707593083381653\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9848076701164246,\n                            0.17364856600761414\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kyghri_6\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.612600326538086,\n                            -2.1862547397613525,\n                            0.3707593083381653\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.2588188648223877,\n                            0.9659258723258972\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kyghri_7\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            9.238265037536621,\n                            -2.1379947662353516,\n                            0.3707593083381653\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_kyghri_8\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            10.207282066345215,\n                            -2.0928635597229004,\n                            0.3707593083381653\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.13052600622177124,\n                            0.9914448857307434\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_lfyqkj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -8.518165588378906,\n                            0.8348050713539124,\n                            0.44823944568634033\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_lfyqkj_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -7.260202884674072,\n                            0.7563349008560181,\n                            0.44823944568634033\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.3007056713104248,\n                            0.9537169933319092\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_lfyqkj_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.046332836151123,\n                            0.7652438879013062,\n                            0.44823944568634033\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8191521763801575,\n                            -0.5735762119293213\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_lfyqkj_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.830376625061035,\n                            -0.49171385169029236,\n                            0.44823944568634033\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8191521763801575,\n                            -0.5735762119293213\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_lfyqkj_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.95850133895874,\n                            14.836936950683594,\n                            0.44823944568634033\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8191521763801575,\n                            -0.5735762119293213\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_lfyqkj_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            11.425065040588379,\n                            6.3221306800842285,\n                            0.44823944568634033\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8191521763801575,\n                            -0.5735762119293213\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_lfyqkj_6\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            18.748220443725586,\n                            13.789291381835938,\n                            0.44823944568634033\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8191521763801575,\n                            -0.5735762119293213\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_oedeqi_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            11.990391731262207,\n                            1.0446003675460815,\n                            0.8024067878723145\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_oedeqi_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.749435901641846,\n                            11.006834030151367,\n                            0.8024067878723145\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_oedeqi_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -12.70416259765625,\n                            -0.18050512671470642,\n                            0.8024067878723145\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_pjhpwk_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            17.009401321411133,\n                            7.01926851272583,\n                            1.0555434226989746\n                        ],\n                        \"ori\": [\n                            0.023951450362801552,\n                            5.6099916379004355e-12,\n                            2.341456473153869e-10,\n                            0.999713122844696\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_pjhpwk_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            18.21718978881836,\n                            8.513955116271973,\n                            1.055543303489685\n                        ],\n                        \"ori\": [\n                            0.023588618263602257,\n                            0.004159354604780674,\n                            0.17359839379787445,\n                            0.984525203704834\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_pjhpwk_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            11.568260192871094,\n                            -2.3731179237365723,\n                            1.0555437803268433\n                        ],\n                        \"ori\": [\n                            0.023588618263602257,\n                            0.00415935181081295,\n                            0.17359839379787445,\n                            0.984525203704834\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_pjhpwk_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            16.462989807128906,\n                            14.776236534118652,\n                            1.0555434226989746\n                        ],\n                        \"ori\": [\n                            0.02358861453831196,\n                            0.0041593522764742374,\n                            0.17359839379787445,\n                            0.984525203704834\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_pjhpwk_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.339566230773926,\n                            10.511612892150879,\n                            1.055543303489685\n                        ],\n                        \"ori\": [\n                            0.02358861453831196,\n                            0.0041593522764742374,\n                            0.17359839379787445,\n                            0.984525203704834\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_yhjhta_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -10.279953956604004,\n                            9.903783798217773,\n                            0.046305060386657715\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.2588191032409668,\n                            0.9659258127212524\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_yhjhta_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -11.864441871643066,\n                            9.898181915283203,\n                            0.046305060386657715\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8660253882408142,\n                            0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_yhjhta_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.3883588314056396,\n                            14.2743558883667,\n                            0.046305060386657715\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8660253882408142,\n                            0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_yhjhta_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.401632308959961,\n                            11.404739379882812,\n                            0.046305060386657715\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9762960076332092,\n                            0.21643954515457153\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_yhjhta_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.55334734916687,\n                            10.410916328430176,\n                            0.046305060386657715\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.8660253882408142,\n                            0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_yhjhta_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            10.099979400634766,\n                            8.831195831298828,\n                            0.046305060386657715\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9762960076332092,\n                            0.21643954515457153\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_yhjhta_6\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            15.159998893737793,\n                            15.536238670349121,\n                            0.046305060386657715\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9762960076332092,\n                            0.21643954515457153\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"car_xxsgpq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -12.420799255371094,\n                            7.287886619567871,\n                            0.7753021717071533\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0000001192092896\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        1.0864216635051067e-16\n                    ],\n                    \"joint_vel\": [\n                        2.5052028560076847e-15\n                    ],\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        },\n                        \"AttachedTo\": {\n                            \"attached_obj_uuid\": -1\n                        }\n                    }\n                },\n                \"charcoal_grill_crdaeu_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            15.85363483428955,\n                            11.261885643005371,\n                            0.778302013874054\n                        ],\n                        \"ori\": [\n                            5.587935447692871e-09,\n                            -1.0546500561758876e-08,\n                            0.9961947202682495,\n                            0.08715594559907913\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                        7.336983295490752e-15\n                    ],\n                    \"joint_vel\": [\n                        1.6609675061122348e-13\n                    ],\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        },\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"countertop_tpuwys_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.866342067718506,\n                            6.703090190887451,\n                            1.345720648765564\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"dishwasher_ynrhuk_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.157533645629883,\n                            1.0955928564071655,\n                            0.4197513163089752\n                        ],\n                        \"ori\": [\n                            -2.6193447411060333e-10,\n                            2.4556356947869062e-11,\n                            1.0,\n                            1.94646418094635e-07\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        2.407867111698943e-31,\n                        0.0,\n                        1.3806233489788156e-08\n                    ],\n                    \"joint_vel\": [\n                        3.7520745243218694e-30,\n                        0.0,\n                        3.9534242307799616e-13\n                    ],\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        },\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"fridge_petcxr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.201407432556152,\n                            -0.5687666535377502,\n                            0.9560025930404663\n                        ],\n                        \"ori\": [\n                            -2.1972693502902985e-05,\n                            1.0655494406819344e-06,\n                            0.7071029543876648,\n                            0.7071107029914856\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                        3.239350454542489e-11,\n                        4.2828771779079844e-11\n                    ],\n                    \"joint_vel\": [\n                        2.309737509692783e-15,\n                        3.9680465944297305e-13\n                    ],\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"microwave_hjjxmi_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.116196632385254,\n                            -0.6967947483062744,\n                            1.0086084604263306\n                        ],\n                        \"ori\": [\n                            -8.614733815193176e-09,\n                            1.3611861504614353e-07,\n                            0.7071055173873901,\n                            0.7071081399917603\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                        7.364904018756519e-26\n                    ],\n                    \"joint_vel\": [\n                        1.5161037865275972e-24\n                    ],\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        },\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"oven_ffitak_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.911428928375244,\n                            -0.6495887041091919,\n                            0.5409926772117615\n                        ],\n                        \"ori\": [\n                            4.470348358154297e-08,\n                            -8.521601557731628e-08,\n                            0.7071066498756409,\n                            0.7071070671081543\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        1.4354319941261356e-17,\n                        3.4382991787908213e-13,\n                        2.9773584856243596e-13\n                    ],\n                    \"joint_vel\": [\n                        3.303811776700404e-16,\n                        9.635896247583986e-12,\n                        8.344098849366599e-12\n                    ],\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        },\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_dyymaq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -10.067146301269531,\n                            13.15047836303711,\n                            3.718750476837158\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_dyymaq_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            25.856597900390625,\n                            8.246013641357422,\n                            3.718750476837158\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_dyymaq_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            15.86120891571045,\n                            0.7766780853271484,\n                            3.718750476837158\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_flkzbo_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -15.045402526855469,\n                            10.942527770996094,\n                            3.7822470664978027\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_flkzbo_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.4779255390167236,\n                            15.6276216506958,\n                            3.7822470664978027\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_flkzbo_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -14.009891510009766,\n                            15.8483304977417,\n                            3.7822470664978027\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7071068286895752,\n                            -0.7071067094802856\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_gmzozb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -7.848628520965576,\n                            -3.8529858589172363,\n                            4.96766996383667\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_gmzozb_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -10.211121559143066,\n                            -3.8487184047698975,\n                            4.96766996383667\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.17364796996116638,\n                            0.9848077893257141\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_gmzozb_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -12.947092056274414,\n                            -3.6955485343933105,\n                            4.96766996383667\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9659258127212524,\n                            0.2588191032409668\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_gmzozb_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -15.340720176696777,\n                            -3.8245351314544678,\n                            4.96766996383667\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.42261821031570435,\n                            0.9063078165054321\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_gmzozb_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.14012336730957,\n                            -3.8487188816070557,\n                            4.96766996383667\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.17364796996116638,\n                            0.9848077893257141\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_rrhqpw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            25.26487922668457,\n                            -3.1772687435150146,\n                            3.8583271503448486\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_rrhqpw_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            12.35063362121582,\n                            7.420542240142822,\n                            3.8583271503448486\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.4617486596107483,\n                            0.8870108127593994\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_rrhqpw_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            10.967729568481445,\n                            12.327774047851562,\n                            3.8583271503448486\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.6087615489959717,\n                            0.793353259563446\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_rrhqpw_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.98072052001953,\n                            -0.17172983288764954,\n                            3.8583271503448486\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_rrhqpw_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            27.556486129760742,\n                            4.171020030975342,\n                            3.8583271503448486\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_rrhqpw_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            27.30270767211914,\n                            15.761831283569336,\n                            3.8583271503448486\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.46174877882003784,\n                            0.8870107531547546\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_wtyipq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -15.631488800048828,\n                            13.495407104492188,\n                            2.2087221145629883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.3826833665370941,\n                            0.9238795638084412\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_wtyipq_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.842702627182007,\n                            11.820091247558594,\n                            2.2087221145629883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_wtyipq_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.203453063964844,\n                            -1.4958924055099487,\n                            2.2087221145629883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.3007056713104248,\n                            0.9537169933319092\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_wtyipq_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.6164326667785645,\n                            13.147072792053223,\n                            2.2087221145629883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.46174877882003784,\n                            0.8870107531547546\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_wtyipq_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            26.920137405395508,\n                            0.15607567131519318,\n                            2.2087221145629883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.4617486596107483,\n                            0.8870108127593994\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_wtyipq_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            27.229629516601562,\n                            11.73579216003418,\n                            2.2087221145629883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.6087615489959717,\n                            0.793353259563446\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_wtyipq_6\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            17.196401596069336,\n                            -3.2711315155029297,\n                            2.2087221145629883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.34202033281326294,\n                            0.9396925568580627\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_wtyipq_7\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            21.324188232421875,\n                            16.04672622680664,\n                            2.2087221145629883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.5735765099525452,\n                            0.8191519975662231\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"tree_wtyipq_8\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            11.983068466186523,\n                            9.985493659973145,\n                            2.2087221145629883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"wall_nail_wlnail_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.403650283813477,\n                            2.873669385910034,\n                            1.713331699371338\n                        ],\n                        \"ori\": [\n                            0.7043592929840088,\n                            -0.04934272542595863,\n                            0.7059550881385803,\n                            -0.055414073169231415\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                        \"AttachedTo\": {\n                            \"attached_obj_uuid\": -1\n                        }\n                    }\n                },\n                \"wood_fireplace_gpnsij_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.004481315612793,\n                            6.702439308166504,\n                            0.6518230438232422\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            5.52335052361741e-07\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"bar_byvbuc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.747982501983643,\n                            -0.7065714597702026,\n                            0.4014427959918976\n                        ],\n                        \"ori\": [\n                            1.671794279900496e-06,\n                            -6.884300205456384e-07,\n                            0.7071069478988647,\n                            0.7071065902709961\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"burner_mdanhg_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.905571937561035,\n                            -0.674903929233551,\n                            0.8940384387969971\n                        ],\n                        \"ori\": [\n                            4.001776687800884e-11,\n                            -9.115819210592235e-12,\n                            0.7071070671081543,\n                            0.7071065306663513\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                \"shelf_vanltx_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.098334550857544,\n                            7.467351913452148,\n                            1.1991246938705444\n                        ],\n                        \"ori\": [\n                            -0.7071066498756409,\n                            0.70710688829422,\n                            -1.7167818668895052e-06,\n                            -3.340840066812234e-06\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"breakfast_table_xftrki_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.2911458015441895,\n                            1.4381657838821411,\n                            0.6256136298179626\n                        ],\n                        \"ori\": [\n                            4.818034540221561e-06,\n                            2.1161449694773182e-05,\n                            -1.637506557017332e-07,\n                            1.0\n                        ],\n                        \"lin_vel\": [\n                            -1.8443532098899595e-05,\n                            -8.26810810394818e-06,\n                            -1.3389610103331506e-05\n                        ],\n                        \"ang_vel\": [\n                            3.032795575563796e-05,\n                            -5.807667184853926e-05,\n                            -2.1195148747210624e-06\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"coffee_table_koagbh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.519821882247925,\n                            5.290386199951172,\n                            0.36463403701782227\n                        ],\n                        \"ori\": [\n                            -3.3911868513314403e-07,\n                            1.7146528989542276e-05,\n                            -6.631303222093266e-07,\n                            1.0000001192092896\n                        ],\n                        \"lin_vel\": [\n                            -9.781304106581956e-05,\n                            -6.860162102384493e-05,\n                            -5.443494615064992e-07\n                        ],\n                        \"ang_vel\": [\n                            -2.2009935491951182e-05,\n                            -4.7838435420999303e-05,\n                            -2.8897259198856773e-06\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"garden_chair_cottya_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            17.188352584838867,\n                            9.653680801391602,\n                            0.4575159549713135\n                        ],\n                        \"ori\": [\n                            -0.0010527968406677246,\n                            -2.580927684903145e-07,\n                            0.9111853837966919,\n                            0.41199544072151184\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                \"garden_chair_cottya_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            17.796110153198242,\n                            11.159156799316406,\n                            0.45754122734069824\n                        ],\n                        \"ori\": [\n                            -0.0008404850959777832,\n                            -0.000383156118914485,\n                            0.9994975924491882,\n                            0.03168351203203201\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                \"garden_chair_cottya_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            17.39127540588379,\n                            12.77530574798584,\n                            0.4573386311531067\n                        ],\n                        \"ori\": [\n                            -0.0009976029396057129,\n                            -0.0005969293415546417,\n                            0.9486071467399597,\n                            -0.3164539039134979\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                \"garden_chair_lraplz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            14.069025993347168,\n                            11.16181468963623,\n                            0.4360051453113556\n                        ],\n                        \"ori\": [\n                            0.0013555844780057669,\n                            -0.0005713420105166733,\n                            0.010651513002812862,\n                            0.9999422430992126\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                \"standing_mirror_wwkuuf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.9785433411598206,\n                            2.2687032222747803,\n                            0.7087390422821045\n                        ],\n                        \"ori\": [\n                            0.03872620686888695,\n                            -0.05869169533252716,\n                            0.12976273894309998,\n                            0.9890486001968384\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_hgunnf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.887571334838867,\n                            1.7928510904312134,\n                            0.47285693883895874\n                        ],\n                        \"ori\": [\n                            0.0022390782833099365,\n                            -0.00019865576177835464,\n                            0.9999974966049194,\n                            1.7735175788402557e-05\n                        ],\n                        \"lin_vel\": [\n                            -0.00016176330973394215,\n                            0.000169169987202622,\n                            -4.6334876969922334e-05\n                        ],\n                        \"ang_vel\": [\n                            -0.00033714500023052096,\n                            -0.00030767658608965576,\n                            0.00015785143477842212\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_uofiqj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.4944512844085693,\n                            1.0171157121658325,\n                            0.47334372997283936\n                        ],\n                        \"ori\": [\n                            2.2202730178833008e-06,\n                            1.8766149878501892e-06,\n                            0.258820116519928,\n                            0.9659256339073181\n                        ],\n                        \"lin_vel\": [\n                            -3.6850469768978655e-05,\n                            -1.88619287655456e-05,\n                            -1.638353069211007e-06\n                        ],\n                        \"ang_vel\": [\n                            6.777518865419552e-05,\n                            9.371013584313914e-05,\n                            -2.4811350158415735e-05\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_uofiqj_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.685436725616455,\n                            1.788677453994751,\n                            0.4733439087867737\n                        ],\n                        \"ori\": [\n                            -2.905726432800293e-07,\n                            -1.4241086319088936e-06,\n                            7.550697773694992e-07,\n                            1.0000001192092896\n                        ],\n                        \"lin_vel\": [\n                            -1.7653957911534235e-05,\n                            -8.661059837322682e-06,\n                            -1.9857732695527375e-05\n                        ],\n                        \"ang_vel\": [\n                            -1.0583702533040196e-05,\n                            -5.847079592058435e-05,\n                            1.797484583221376e-05\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_zdhnyg_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.889126300811768,\n                            1.1079012155532837,\n                            0.4733007848262787\n                        ],\n                        \"ori\": [\n                            0.0031273365020751953,\n                            -0.003787042573094368,\n                            0.9999879598617554,\n                            1.920759677886963e-05\n                        ],\n                        \"lin_vel\": [\n                            0.0002075513475574553,\n                            9.602728096069768e-05,\n                            -2.023272645601537e-05\n                        ],\n                        \"ang_vel\": [\n                            9.23523330129683e-05,\n                            0.0002497380191925913,\n                            0.00023404319654218853\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"bar_egwapq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.151969909667969,\n                            0.15750814974308014,\n                            0.4490511119365692\n                        ],\n                        \"ori\": [\n                            1.3114304072894952e-15,\n                            4.177641343972027e-09,\n                            1.0,\n                            3.1391647326017846e-07\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"bottom_cabinet_rhdbzv_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.260105133056641,\n                            4.522088527679443,\n                            0.21441005170345306\n                        ],\n                        \"ori\": [\n                            -9.960494935512543e-07,\n                            7.510859632020583e-07,\n                            1.0,\n                            -1.9470462575554848e-07\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        1.1849066866576052e-11,\n                        1.1674738432942977e-11\n                    ],\n                    \"joint_vel\": [\n                        -1.2233129524478622e-27,\n                        3.969077531868119e-26\n                    ],\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"ceilings_alydei_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.9036145210266113,\n                            1.5060296058654785,\n                            2.546888589859009\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_aoekre_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.520022869110107,\n                            5.557386875152588,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_feolie_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.2406875193119049,\n                            3.329909324645996,\n                            2.546888589859009\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_isizwh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.255151748657227,\n                            5.478974342346191,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_kbxtoc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.136273384094238,\n                            1.377645492553711,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_sbkyof_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.718851089477539,\n                            5.511994361877441,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_vkfllw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.954075336456299,\n                            -0.1620907038450241,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_hgonwj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.910258173942566,\n                            7.547131061553955,\n                            1.4864343404769897\n                        ],\n                        \"ori\": [\n                            -0.5,\n                            0.5,\n                            0.5000000596046448,\n                            -0.4999999403953552\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_rypeha_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.3227729797363281,\n                            0.21013908088207245,\n                            1.535016655921936\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_xzsmxq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.3330634832382202,\n                            3.47764253616333,\n                            1.7149009704589844\n                        ],\n                        \"ori\": [\n                            7.130104222596856e-07,\n                            0.0020132323261350393,\n                            -2.5964516225940315e-06,\n                            0.9999979734420776\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"door_bexenl_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.886465072631836,\n                            2.3801634311676025,\n                            1.1881227493286133\n                        ],\n                        \"ori\": [\n                            -6.518312147818506e-07,\n                            -3.0848736059851944e-05,\n                            -0.7104466557502747,\n                            0.7037511467933655\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                        7.213582668878671e-23\n                    ],\n                    \"joint_vel\": [\n                        1.6370665667861265e-21\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_bexenl_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.0018343925476074,\n                            0.7760968208312988,\n                            1.1881228685379028\n                        ],\n                        \"ori\": [\n                            3.083582123508677e-05,\n                            -6.060603254809394e-07,\n                            0.7042463421821594,\n                            0.7099557518959045\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                        3.789185795916115e-15\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.11536934226751328,\n                            7.761946678161621,\n                            1.1729766130447388\n                        ],\n                        \"ori\": [\n                            -2.0077743101865053e-05,\n                            -0.00045781777589581907,\n                            -0.7034239172935486,\n                            0.7107704877853394\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        1.5931364316656982e-07\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.11318013072013855,\n                            -1.1897296905517578,\n                            1.1729762554168701\n                        ],\n                        \"ori\": [\n                            0.0004575822385959327,\n                            -1.9954837625846267e-05,\n                            0.7107515931129456,\n                            0.7034429907798767\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        1.5919859208679554e-07\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.709315776824951,\n                            3.4284281730651855,\n                            1.173406958580017\n                        ],\n                        \"ori\": [\n                            0.00045784609392285347,\n                            -2.0098319509997964e-05,\n                            0.710770845413208,\n                            0.7034235000610352\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        1.462661547435573e-09\n                    ],\n                    \"joint_vel\": [\n                        -4.9446015858156667e-14\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.699669361114502,\n                            7.66694450378418,\n                            1.1734071969985962\n                        ],\n                        \"ori\": [\n                            0.00045783116365782917,\n                            -2.010565367527306e-05,\n                            0.7107707858085632,\n                            0.7034235596656799\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        1.4635049838673808e-09\n                    ],\n                    \"joint_vel\": [\n                        6.205396006070396e-12\n                    ],\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.651690661907196,\n                            6.911736011505127,\n                            2.1672098636627197\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.6516907215118408,\n                            2.764906883239746,\n                            2.1672098636627197\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_10\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.7691171169281006,\n                            7.305008888244629,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            8.102612980565027e-08,\n                            3.282541527482863e-08,\n                            0.3754790425300598,\n                            0.9268308877944946\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_11\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.9526609182357788,\n                            7.304921627044678,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            8.183096156244574e-08,\n                            3.076413435110226e-08,\n                            0.35190078616142273,\n                            0.9360373020172119\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_12\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.5523812770843506,\n                            6.563607215881348,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            2.9900355968948134e-08,\n                            8.215054947413591e-08,\n                            0.9396926164627075,\n                            0.342020183801651\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_13\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.5522271394729614,\n                            5.746275424957275,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            3.408305815355561e-08,\n                            8.050520250435511e-08,\n                            0.920872151851654,\n                            0.3898646831512451\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_14\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.5523110628128052,\n                            4.9298200607299805,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            3.610970011891368e-08,\n                            7.961676828927011e-08,\n                            0.910709798336029,\n                            0.41304683685302734\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_15\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.1194987297058105,\n                            3.70245361328125,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            8.609458035380158e-08,\n                            -1.5180786405721847e-08,\n                            -0.17364796996116638,\n                            0.9848077893257141\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_16\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.119522571563721,\n                            4.519840240478516,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            7.894188058799045e-08,\n                            -3.756215605221769e-08,\n                            -0.4296610951423645,\n                            0.9029902219772339\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_17\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.119429111480713,\n                            5.336261749267578,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            7.961677539469747e-08,\n                            -3.610969301348632e-08,\n                            -0.4130469262599945,\n                            0.9107097387313843\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.651690661907196,\n                            5.894435405731201,\n                            2.1672098636627197\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.651690661907196,\n                            4.915513515472412,\n                            2.1672098636627197\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.907909095287323,\n                            0.37542957067489624,\n                            2.165252923965454\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.9079067707061768,\n                            -0.6004337072372437,\n                            2.165252923965454\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_6\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.0120561122894287,\n                            1.5348763465881348,\n                            2.337745189666748\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_7\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.6700329780578613,\n                            1.5348721742630005,\n                            2.337745189666748\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_8\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.6516906023025513,\n                            3.740774631500244,\n                            2.1672098636627197\n                        ],\n                        \"ori\": [\n                            1.4272957926664276e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_9\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.586453437805176,\n                            7.304886341094971,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            7.754493225320402e-08,\n                            4.0367339693148097e-08,\n                            0.46174877882003784,\n                            0.8870107531547546\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"driveway_umalys_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -12.69985294342041,\n                            5.707181453704834,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"drop_in_sink_lkklqs_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.109147071838379,\n                            0.23475468158721924,\n                            0.8585090637207031\n                        ],\n                        \"ori\": [\n                            1.3114304072894952e-15,\n                            4.177641343972027e-09,\n                            1.0,\n                            3.1391647326017846e-07\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        },\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"electric_switch_strbnw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.4436075687408447,\n                            3.9397165775299072,\n                            1.1495720148086548\n                        ],\n                        \"ori\": [\n                            0.001230433234013617,\n                            -0.032388947904109955,\n                            -0.010893196798861027,\n                            0.9994153380393982\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"electric_switch_strbnw_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.7511515021324158,\n                            7.569955348968506,\n                            1.1495720148086548\n                        ],\n                        \"ori\": [\n                            -0.02203320525586605,\n                            -0.02377311885356903,\n                            -0.7143962979316711,\n                            0.6989904046058655\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"electric_switch_strbnw_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.6418156027793884,\n                            7.569954872131348,\n                            1.1495720148086548\n                        ],\n                        \"ori\": [\n                            -0.02203320525586605,\n                            -0.02377311885356903,\n                            -0.7143962979316711,\n                            0.6989904046058655\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"electric_switch_strbnw_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.4436075687408447,\n                            4.028299331665039,\n                            1.1495718955993652\n                        ],\n                        \"ori\": [\n                            0.001230433234013617,\n                            -0.032388947904109955,\n                            -0.010893196798861027,\n                            0.9994153380393982\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"fixed_window_kvdqep_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.908116102218628,\n                            -1.0693415403366089,\n                            1.2367674112319946\n                        ],\n                        \"ori\": [\n                            -1.3410273425051855e-07,\n                            1.3410284793735627e-07,\n                            0.7071072459220886,\n                            -0.7071062922477722\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"fixed_window_lhzwtz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.54767894744873,\n                            1.8719654083251953,\n                            1.0577043294906616\n                        ],\n                        \"ori\": [\n                            4.371139183945161e-08,\n                            -4.371138473402425e-08,\n                            1.0,\n                            -7.549789415861596e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_ghetev_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            15.194725036621094,\n                            9.549063682556152,\n                            -0.08061301708221436\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_irvmpb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.173818111419678,\n                            1.31890070438385,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_iwsyoz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -7.896538257598877,\n                            -3.7630395889282227,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_nbxnpk_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.369476318359375,\n                            5.505799293518066,\n                            -0.15000003576278687\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_ogynye_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.010512351989746,\n                            6.217711925506592,\n                            -0.1494276523590088\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_qadhjb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -8.231354713439941,\n                            -1.8533318042755127,\n                            -0.15000005066394806\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_sdejoi_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.0175507068634033,\n                            1.5060408115386963,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_slmyas_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.015613555908203,\n                            9.062435150146484,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_ulujpr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.866909980773926,\n                            5.666343688964844,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_xkkysf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.0167768001556396,\n                            -0.23164819180965424,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_xorxro_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.2026587724685669,\n                            3.3603272438049316,\n                            -0.15000005066394806\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"floors_zqjkvm_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.8314337730407715,\n                            1.1399084329605103,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"garden_light_qyfrwj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            13.082374572753906,\n                            10.527153968811035,\n                            0.4406197667121887\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"garden_light_qyfrwj_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            17.41649627685547,\n                            13.705216407775879,\n                            0.4406197667121887\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"garden_light_qyfrwj_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            14.119112968444824,\n                            13.437567710876465,\n                            0.4406197667121887\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"garden_light_qyfrwj_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            16.393651962280273,\n                            8.33052921295166,\n                            0.543748676776886\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"garden_light_qyfrwj_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            18.723386764526367,\n                            10.621943473815918,\n                            0.4406197667121887\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"garden_light_qyfrwj_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            10.549521446228027,\n                            7.668270587921143,\n                            0.5439923405647278\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"garden_light_qyfrwj_6\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -15.0800199508667,\n                            2.1115520000457764,\n                            0.5089493989944458\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"garden_light_qyfrwj_7\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            10.549521446228027,\n                            7.668270587921143,\n                            0.5439923405647278\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"garden_light_qyfrwj_8\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            10.549521446228027,\n                            -1.1384243965148926,\n                            0.5439923405647278\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"hall_tree_daxzaw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.1914749145507812,\n                            -0.2079654037952423,\n                            0.9663193225860596\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"hall_tree_upkvgr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.0774564743041992,\n                            5.3776960372924805,\n                            1.1423906087875366\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"lawn_aztwla_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            11.144706726074219,\n                            7.921620845794678,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"lawn_srfikq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -14.415989875793457,\n                            1.0884172916412354,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"lawn_tiqndr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -7.1791205406188965,\n                            0.20979198813438416,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"lawn_zjtrpt_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.791261672973633,\n                            -2.7255196571350098,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"paver_eskaca_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -13.689250946044922,\n                            1.2405089139938354,\n                            0.04245743155479431\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"paver_lmdfdn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -7.249168872833252,\n                            0.2803964912891388,\n                            0.022317148745059967\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"paver_sekqqq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.10262751579284668,\n                            2.182325839996338,\n                            -0.016032814979553223\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"picture_ekagyj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.2276611328125,\n                            5.644914150238037,\n                            1.5179249048233032\n                        ],\n                        \"ori\": [\n                            -0.00021770589228253812,\n                            0.7068892121315002,\n                            -0.00021770600869785994,\n                            0.707324206829071\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"picture_ggajdz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.906806230545044,\n                            7.557434558868408,\n                            1.0779438018798828\n                        ],\n                        \"ori\": [\n                            0.5,\n                            -0.5,\n                            -0.5,\n                            -0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"picture_jnecmu_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.995943546295166,\n                            4.372140407562256,\n                            1.502115249633789\n                        ],\n                        \"ori\": [\n                            -0.7068889141082764,\n                            0.000269129901425913,\n                            0.7073245644569397,\n                            -0.00016625226999167353\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"picture_qlkknu_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.9959485530853271,\n                            6.643787384033203,\n                            1.3490948677062988\n                        ],\n                        \"ori\": [\n                            -0.7068889141082764,\n                            0.0002689510874915868,\n                            0.7073245644569397,\n                            -0.00016641619731672108\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"picture_qlsyco_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.1342577934265137,\n                            7.55281400680542,\n                            1.092362403869629\n                        ],\n                        \"ori\": [\n                            -0.5000000596046448,\n                            0.4999999403953552,\n                            0.4999999403953552,\n                            0.5000000596046448\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"picture_tveyoh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.9959511160850525,\n                            5.612112522125244,\n                            1.4460172653198242\n                        ],\n                        \"ori\": [\n                            -0.7068891525268555,\n                            0.00028620651573874056,\n                            0.7073243260383606,\n                            -0.0001488030538894236\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"picture_yzbpie_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.995965301990509,\n                            5.0875563621521,\n                            1.1189029216766357\n                        ],\n                        \"ori\": [\n                            -0.7068889737129211,\n                            0.00028601280064322054,\n                            0.7073245048522949,\n                            -0.0001491904549766332\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"playground_xdlcdi_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.416948318481445,\n                            13.086623191833496,\n                            2.053555488586426\n                        ],\n                        \"ori\": [\n                            -9.533422371532652e-07,\n                            7.544517899304992e-09,\n                            -0.007910998538136482,\n                            0.9999687075614929\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"rail_fence_owbrvb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            17.939146041870117,\n                            17.680973052978516,\n                            0.6696560978889465\n                        ],\n                        \"ori\": [\n                            0.0011985187884420156,\n                            0.0012313827173784375,\n                            -0.706998348236084,\n                            0.7072131037712097\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"rail_fence_owbrvb_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            29.422836303710938,\n                            6.0019850730896,\n                            0.6695229411125183\n                        ],\n                        \"ori\": [\n                            -0.0017182630253955722,\n                            -2.2979389541433193e-05,\n                            0.9999985098838806,\n                            -0.00014101977285463363\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"rail_fence_owbrvb_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            18.045503616333008,\n                            -5.468869686126709,\n                            0.6697246432304382\n                        ],\n                        \"ori\": [\n                            -0.0012313572224229574,\n                            0.0011984965531155467,\n                            0.7072129249572754,\n                            0.7069985270500183\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"rail_fence_owbrvb_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.005260944366455,\n                            -5.468221187591553,\n                            0.6693980097770691\n                        ],\n                        \"ori\": [\n                            -0.0012313572224229574,\n                            0.0011984965531155467,\n                            0.7072129249572754,\n                            0.7069985270500183\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"rail_fence_owbrvb_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.111202716827393,\n                            17.680986404418945,\n                            0.6696600317955017\n                        ],\n                        \"ori\": [\n                            0.0011985187884420156,\n                            0.0012313827173784375,\n                            -0.706998348236084,\n                            0.7072131037712097\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"rail_fence_owbrvb_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -16.539518356323242,\n                            6.223881721496582,\n                            0.6695225834846497\n                        ],\n                        \"ori\": [\n                            -2.3009368305793032e-05,\n                            0.001720378641039133,\n                            0.00014141338760964572,\n                            0.9999985098838806\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"range_hood_xvdfpp_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.9097795486450195,\n                            -0.9177923798561096,\n                            1.821560263633728\n                        ],\n                        \"ori\": [\n                            1.2178898167736207e-10,\n                            1.2178895392178646e-10,\n                            0.7071068286895752,\n                            0.7071067094802856\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"roof_pgwmer_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.076505422592163,\n                            2.6357133388519287,\n                            5.219618320465088\n                        ],\n                        \"ori\": [\n                            -6.30734409146072e-10,\n                            6.307349087464331e-10,\n                            0.7071066498756409,\n                            0.70710688829422\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"room_light_eqbjaz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.276165008544922,\n                            5.5935587882995605,\n                            1.7559911012649536\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"room_light_kiuayi_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.220686912536621,\n                            1.1139496564865112,\n                            2.0094308853149414\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"sofa_frlxgz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.9035032987594604,\n                            6.052554130554199,\n                            0.276924192905426\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"stairs_tikozn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.0531527996063232,\n                            0.6303675770759583,\n                            1.8382233381271362\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"swing_set_yzhrgz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.936726987361908,\n                            13.04601001739502,\n                            1.285752534866333\n                        ],\n                        \"ori\": [\n                            -4.231687489664182e-05,\n                            6.913520337548107e-06,\n                            0.7071068286895752,\n                            0.7071067094802856\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"top_cabinet_tynnnw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.30424976348877,\n                            -0.3730410933494568,\n                            1.8874198198318481\n                        ],\n                        \"ori\": [\n                            0.0,\n                            4.496181205126959e-12,\n                            1.0000001192092896,\n                            1.1483862181194127e-06\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                        3.1350670971831556e-25,\n                        2.3400256884097137e-13\n                    ],\n                    \"joint_vel\": [\n                        7.133818260624697e-24,\n                        6.02140626156903e-18\n                    ],\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"top_cabinet_tynnnw_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.304250717163086,\n                            0.8304481506347656,\n                            1.8874198198318481\n                        ],\n                        \"ori\": [\n                            0.0,\n                            4.496403249731884e-12,\n                            1.0000001192092896,\n                            1.3868047972209752e-06\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                        3.328099388538474e-25,\n                        2.342917797704819e-13\n                    ],\n                    \"joint_vel\": [\n                        7.666490275987943e-24,\n                        6.02140626156903e-18\n                    ],\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"track_light_ltnnrc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.304345607757568,\n                            2.0552871227264404,\n                            2.293074131011963\n                        ],\n                        \"ori\": [\n                            3.647477342383354e-08,\n                            -3.64747627656925e-08,\n                            -0.7071066498756409,\n                            0.70710688829422\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"track_light_ltnnrc_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.30434513092041,\n                            0.6291348934173584,\n                            2.293074131011963\n                        ],\n                        \"ori\": [\n                            3.647477342383354e-08,\n                            -3.64747627656925e-08,\n                            -0.7071066498756409,\n                            0.70710688829422\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"wall_mounted_tv_dxyfxf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.38406229019165,\n                            4.4892754554748535,\n                            1.3020508289337158\n                        ],\n                        \"ori\": [\n                            4.371138118131057e-08,\n                            -4.3711395392165286e-08,\n                            1.0,\n                            1.9470718370939721e-07\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"wall_socket_nujxel_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.0073962211608887,\n                            7.370497226715088,\n                            0.17663566768169403\n                        ],\n                        \"ori\": [\n                            1.685874053691805e-07,\n                            0.7071068286895752,\n                            1.6858737694747106e-07,\n                            -0.7071067094802856\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_abtbfo_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.899403989315033,\n                            0.5445684790611267,\n                            1.3484432697296143\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_bjekee_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.238336563110352,\n                            6.7025065422058105,\n                            1.41874361038208\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_buhmrc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.31728968024253845,\n                            8.28236198425293,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_chmqjn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.0086231231689453,\n                            0.7558910250663757,\n                            2.373765468597412\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_cvdpaq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -7.114837169647217,\n                            2.330291509628296,\n                            1.293397307395935\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_cxsmhr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.9714878797531128,\n                            -1.1004434823989868,\n                            1.3484432697296143\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_dewyls_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.901817798614502,\n                            -1.100443720817566,\n                            2.513519287109375\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_dlfarz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.52174186706543,\n                            5.563309192657471,\n                            1.3484431505203247\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_epketb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.887902021408081,\n                            2.3541018962860107,\n                            2.373765468597412\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_fwsbwf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -4.5145368576049805,\n                            0.5360475182533264,\n                            1.2873893976211548\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_gishpf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.538812637329102,\n                            5.666343688964844,\n                            2.513519287109375\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_hcbqvq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.3751676082611084,\n                            -2.0040204524993896,\n                            1.2828558683395386\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_jemunw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.623449802398682,\n                            -1.103598713874817,\n                            1.3484432697296143\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_jglkyp_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -9.126346588134766,\n                            5.480226993560791,\n                            1.3484431505203247\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_jnbgxj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.605769157409668,\n                            7.693531036376953,\n                            2.513519287109375\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_jzwmhx_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.538814544677734,\n                            2.9117226600646973,\n                            1.3484431505203247\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_lblwvg_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.2257602214813232,\n                            3.982853651046753,\n                            1.3484433889389038\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_lovfhw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -4.390817642211914,\n                            -2.004019260406494,\n                            1.28285551071167\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_mgumxz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.538814544677734,\n                            1.8723160028457642,\n                            2.513519287109375\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_mgvxov_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.46843433380127,\n                            -2.004021167755127,\n                            1.28285551071167\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_miltge_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.082330226898193,\n                            8.654457092285156,\n                            1.3028624057769775\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_mkgplc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.594769477844238,\n                            7.698404312133789,\n                            2.513519287109375\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_mwlvfb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.2233578860759735,\n                            7.6935319900512695,\n                            2.513519287109375\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_oiagxk_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.4820524454116821,\n                            8.164472579956055,\n                            1.3484430313110352\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_oqrbxo_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.4573912620544434,\n                            4.8287200927734375,\n                            1.3484431505203247\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_owxeej_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.46563720703125,\n                            -0.06503704935312271,\n                            1.3484431505203247\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_paarsl_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -9.12635612487793,\n                            4.021864891052246,\n                            2.513519287109375\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_pmygxs_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.0308233499526978,\n                            7.68658447265625,\n                            1.3484432697296143\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_qeofms_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.398054838180542,\n                            0.7558919787406921,\n                            1.3484430313110352\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_rrabdp_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.976871490478516,\n                            7.701404571533203,\n                            1.3484431505203247\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_uiloru_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.008785522542893887,\n                            -1.1004430055618286,\n                            2.513519287109375\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_umqqmh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.6524200439453125,\n                            3.409116506576538,\n                            1.3484431505203247\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_upttgq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.543468475341797,\n                            0.1486157327890396,\n                            1.3484431505203247\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_vxveul_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.1102089881896973,\n                            5.834742546081543,\n                            1.3484430313110352\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_weybsr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.496758460998535,\n                            2.3396568298339844,\n                            1.3484432697296143\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_xsubff_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.620049953460693,\n                            3.419678211212158,\n                            2.513519287109375\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_xyrbgy_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.6603317260742188,\n                            -1.1554911136627197,\n                            1.2870962619781494\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_ylpkth_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.4094693660736084,\n                            7.693531036376953,\n                            1.3484431505203247\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_zdhaff_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -9.126336097717285,\n                            6.9386186599731445,\n                            2.513519287109375\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"can_of_soda_113\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.243434906005859,\n                            6.99073600769043,\n                            0.06461404263973236\n                        ],\n                        \"ori\": [\n                            -0.0003684777766466141,\n                            0.0002911951160058379,\n                            0.5866535902023315,\n                            0.8098379969596863\n                        ],\n                        \"lin_vel\": [\n                            0.0002733730070758611,\n                            0.00012652802979573607,\n                            -1.1499275387905072e-05\n                        ],\n                        \"ang_vel\": [\n                            -0.0026431456208229065,\n                            0.0038117922376841307,\n                            0.0005115024978294969\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"can_of_soda_114\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.6732096672058105,\n                            7.169314861297607,\n                            0.07145575433969498\n                        ],\n                        \"ori\": [\n                            2.1860003471374512e-05,\n                            -8.507355232723057e-05,\n                            0.993104875087738,\n                            0.11722961813211441\n                        ],\n                        \"lin_vel\": [\n                            -0.0004864000075031072,\n                            0.000641512917354703,\n                            -1.6261185010080226e-05\n                        ],\n                        \"ang_vel\": [\n                            -0.003991755191236734,\n                            -0.0022173046600073576,\n                            -0.003974554594606161\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"can_of_soda_115\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.126427173614502,\n                            3.958101749420166,\n                            0.07145443558692932\n                        ],\n                        \"ori\": [\n                            -0.00014805607497692108,\n                            -0.0004517922643572092,\n                            0.4407252371311188,\n                            0.8976419568061829\n                        ],\n                        \"lin_vel\": [\n                            -0.0007986109703779221,\n                            -0.00013988791033625603,\n                            -5.49539145140443e-05\n                        ],\n                        \"ang_vel\": [\n                            0.0034916854929178953,\n                            -0.01156550645828247,\n                            -0.00022486170928459615\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"trash_can_116\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.5081706047058105,\n                            1.2269494533538818,\n                            0.13483580946922302\n                        ],\n                        \"ori\": [\n                            1.926906406879425e-06,\n                            -3.966924850828946e-06,\n                            0.9324679970741272,\n                            0.3612527847290039\n                        ],\n                        \"lin_vel\": [\n                            6.316284270724282e-06,\n                            -4.001267734565772e-05,\n                            -2.485020104359137e-06\n                        ],\n                        \"ang_vel\": [\n                            0.00014521671982947737,\n                            4.461105709197e-05,\n                            -0.00010596562060527503\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"robot_r1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.1107177734375,\n                            1.5191650390625,\n                            0.003753662109375\n                        ],\n                        \"ori\": [\n                            0.004324102774262428,\n                            -0.0026167964097112417,\n                            -0.3354952335357666,\n                            0.9420283436775208\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"joint_vel\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0\n                    ],\n                    \"controllers\": {\n                        \"base\": {\n                            \"goal_is_valid\": true,\n                            \"goal\": {\n                                \"target\": [\n                                    0.0,\n                                    0.0,\n                                    0.0\n                                ]\n                            }\n                        },\n                        \"trunk\": {\n                            \"goal_is_valid\": true,\n                            \"goal\": {\n                                \"target\": [\n                                    1.024999976158142,\n                                    -1.4500000476837158,\n                                    -0.4699999988079071,\n                                    0.0\n                                ]\n                            }\n                        },\n                        \"arm_left\": {\n                            \"goal_is_valid\": true,\n                            \"goal\": {\n                                \"target\": [\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0\n                                ]\n                            }\n                        },\n                        \"gripper_left\": {\n                            \"goal_is_valid\": true,\n                            \"goal\": {\n                                \"target\": [\n                                    0.05000000074505806\n                                ]\n                            },\n                            \"vel_filter\": {\n                                \"past_samples\": [\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ]\n                                ],\n                                \"current_idx\": 1,\n                                \"fully_filled\": true\n                            }\n                        },\n                        \"arm_right\": {\n                            \"goal_is_valid\": true,\n                            \"goal\": {\n                                \"target\": [\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0\n                                ]\n                            }\n                        },\n                        \"gripper_right\": {\n                            \"goal_is_valid\": true,\n                            \"goal\": {\n                                \"target\": [\n                                    0.05000000074505806\n                                ]\n                            },\n                            \"vel_filter\": {\n                                \"past_samples\": [\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ],\n                                    [\n                                        0.0,\n                                        0.0\n                                    ]\n                                ],\n                                \"current_idx\": 1,\n                                \"fully_filled\": true\n                            }\n                        }\n                    },\n                    \"non_kin\": {},\n                    \"ag_obj_constraint_params\": {\n                        \"left\": {},\n                        \"right\": {}\n                    }\n                }\n            }\n        }\n    },\n    \"init_info\": {\n        \"class_module\": \"omnigibson.scenes.interactive_traversable_scene\",\n        \"class_name\": \"InteractiveTraversableScene\",\n        \"args\": {\n            \"scene_model\": \"house_double_floor_lower\",\n            \"scene_instance\": \"house_double_floor_lower_task_picking_up_trash_0_0_template\",\n            \"scene_file\": {\n                \"metadata\": {\n                    \"task\": {\n                        \"inst_to_name\": {\n                            \"agent.n.01_1\": \"robot_r1\",\n                            \"ashcan.n.01_1\": \"trash_can_116\",\n                            \"can__of__soda.n.01_1\": \"can_of_soda_115\",\n                            \"can__of__soda.n.01_2\": \"can_of_soda_114\",\n                            \"can__of__soda.n.01_3\": \"can_of_soda_113\",\n                            \"floor.n.01_1\": \"floors_ulujpr_0\",\n                            \"floor.n.01_2\": \"floors_zqjkvm_0\"\n                        }\n                    }\n                },\n                \"init_info\": {\n                    \"class_module\": \"omnigibson.scenes.interactive_traversable_scene\",\n                    \"class_name\": \"InteractiveTraversableScene\",\n                    \"args\": {\n                        \"scene_model\": \"house_double_floor_lower\",\n                        \"scene_instance\": \"house_double_floor_lower_task_picking_up_trash_0_0_template\",\n                        \"scene_file\": null,\n                        \"trav_map_resolution\": 0.1,\n                        \"default_erosion_radius\": 0.0,\n                        \"trav_map_with_objects\": true,\n                        \"num_waypoints\": 10,\n                        \"waypoint_resolution\": 0.2,\n                        \"load_room_types\": null,\n                        \"load_room_instances\": null,\n                        \"include_robots\": true\n                    }\n                },\n                \"objects_info\": {\n                    \"init_info\": {\n                        \"bottom_cabinet_qacthv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_qacthv_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"qacthv\",\n                                \"scale\": [\n                                    1.6584076881408691,\n                                    1.6618138551712036,\n                                    2.27225399017334\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_10\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_10\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_6\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_7\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_8\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_cwsigt_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_cwsigt_9\",\n                                \"category\": \"bush\",\n                                \"model\": \"cwsigt\",\n                                \"scale\": [\n                                    0.3559747040271759,\n                                    0.3559921085834503,\n                                    0.3559795320034027\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_frqici_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_frqici_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"frqici\",\n                                \"scale\": [\n                                    0.3373742699623108,\n                                    0.3373841643333435,\n                                    0.33737385272979736\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_frqici_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_frqici_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"frqici\",\n                                \"scale\": [\n                                    0.3373742699623108,\n                                    0.3373841643333435,\n                                    0.33737385272979736\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_frqici_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_frqici_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"frqici\",\n                                \"scale\": [\n                                    0.3373742699623108,\n                                    0.3373841643333435,\n                                    0.33737385272979736\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_frqici_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_frqici_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"frqici\",\n                                \"scale\": [\n                                    0.3373742699623108,\n                                    0.3373841643333435,\n                                    0.33737385272979736\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_frqici_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_frqici_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"frqici\",\n                                \"scale\": [\n                                    0.3373742699623108,\n                                    0.3373841643333435,\n                                    0.33737385272979736\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kjakgd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kjakgd_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"kjakgd\",\n                                \"scale\": [\n                                    0.4627520442008972,\n                                    0.46274271607398987,\n                                    0.4627504050731659\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kjakgd_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kjakgd_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"kjakgd\",\n                                \"scale\": [\n                                    0.4627520442008972,\n                                    0.46274271607398987,\n                                    0.4627504050731659\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_6\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_7\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_8\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_6\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_oedeqi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_oedeqi_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"oedeqi\",\n                                \"scale\": [\n                                    0.5401318669319153,\n                                    0.5401249527931213,\n                                    0.5401372313499451\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_oedeqi_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_oedeqi_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"oedeqi\",\n                                \"scale\": [\n                                    0.5401318669319153,\n                                    0.5401249527931213,\n                                    0.5401372313499451\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_oedeqi_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_oedeqi_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"oedeqi\",\n                                \"scale\": [\n                                    0.5401318669319153,\n                                    0.5401249527931213,\n                                    0.5401372313499451\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.5033133029937744,\n                                    0.5033060312271118,\n                                    0.503303587436676\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.5033133029937744,\n                                    0.5033060312271118,\n                                    0.503303587436676\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.5033133029937744,\n                                    0.5033060312271118,\n                                    0.503303587436676\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.5033133029937744,\n                                    0.5033060312271118,\n                                    0.503303587436676\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.5033133029937744,\n                                    0.5033060312271118,\n                                    0.503303587436676\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.5133029222488403,\n                                    0.5133182406425476,\n                                    0.5133031606674194\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.5133029222488403,\n                                    0.5133182406425476,\n                                    0.5133031606674194\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.5133029222488403,\n                                    0.5133182406425476,\n                                    0.5133031606674194\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.5133029222488403,\n                                    0.5133182406425476,\n                                    0.5133031606674194\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.5133029222488403,\n                                    0.5133182406425476,\n                                    0.5133031606674194\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.5133029222488403,\n                                    0.5133182406425476,\n                                    0.5133031606674194\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_6\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.5133029222488403,\n                                    0.5133182406425476,\n                                    0.5133031606674194\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"car_xxsgpq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"car_xxsgpq_0\",\n                                \"category\": \"car\",\n                                \"model\": \"xxsgpq\",\n                                \"scale\": [\n                                    1.0000019073486328,\n                                    0.9999808073043823,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"charcoal_grill_crdaeu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"charcoal_grill_crdaeu_0\",\n                                \"category\": \"charcoal_grill\",\n                                \"model\": \"crdaeu\",\n                                \"scale\": [\n                                    1.3063520193099976,\n                                    1.4543060064315796,\n                                    1.2942728996276855\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_tpuwys_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_tpuwys_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"tpuwys\",\n                                \"scale\": [\n                                    0.6670383810997009,\n                                    1.7092905044555664,\n                                    2.349606513977051\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"da4aba690baf7dfca8d81c1bc1b6de83\"\n                            }\n                        },\n                        \"dishwasher_ynrhuk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"dishwasher_ynrhuk_0\",\n                                \"category\": \"dishwasher\",\n                                \"model\": \"ynrhuk\",\n                                \"scale\": [\n                                    1.103658676147461,\n                                    1.1392384767532349,\n                                    1.0695672035217285\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bf8ebfa4f2eddcbf9df621f5aa74f752\"\n                            }\n                        },\n                        \"fridge_petcxr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fridge_petcxr_0\",\n                                \"category\": \"fridge\",\n                                \"model\": \"petcxr\",\n                                \"scale\": [\n                                    1.000007152557373,\n                                    1.00002920627594,\n                                    1.0000027418136597\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d83d5bc62bc0e59923984dd17680385c\"\n                            }\n                        },\n                        \"microwave_hjjxmi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"microwave_hjjxmi_0\",\n                                \"category\": \"microwave\",\n                                \"model\": \"hjjxmi\",\n                                \"scale\": [\n                                    0.9998999238014221,\n                                    1.00001859664917,\n                                    0.9998341202735901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d4f14541ccd2e3716e66022ef7a71ae6\"\n                            }\n                        },\n                        \"oven_ffitak_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"oven_ffitak_0\",\n                                \"category\": \"oven\",\n                                \"model\": \"ffitak\",\n                                \"scale\": [\n                                    1.216524362564087,\n                                    0.9933228492736816,\n                                    0.9864447116851807\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"97058ea0b9027ae350a298f453ed87e8\"\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                            }\n                        },\n                        \"tree_dyymaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_dyymaq_0\",\n                                \"category\": \"tree\",\n                                \"model\": \"dyymaq\",\n                                \"scale\": [\n                                    0.7470368146896362,\n                                    0.7470313310623169,\n                                    0.7470372319221497\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_dyymaq_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_dyymaq_1\",\n                                \"category\": \"tree\",\n                                \"model\": \"dyymaq\",\n                                \"scale\": [\n                                    0.7470368146896362,\n                                    0.7470313310623169,\n                                    0.7470372319221497\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_dyymaq_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_dyymaq_2\",\n                                \"category\": \"tree\",\n                                \"model\": \"dyymaq\",\n                                \"scale\": [\n                                    0.7470368146896362,\n                                    0.7470313310623169,\n                                    0.7470372319221497\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_flkzbo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_flkzbo_0\",\n                                \"category\": \"tree\",\n                                \"model\": \"flkzbo\",\n                                \"scale\": [\n                                    0.7470294237136841,\n                                    0.747040867805481,\n                                    0.7470352649688721\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_flkzbo_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_flkzbo_1\",\n                                \"category\": \"tree\",\n                                \"model\": \"flkzbo\",\n                                \"scale\": [\n                                    0.7470294237136841,\n                                    0.747040867805481,\n                                    0.7470352649688721\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_flkzbo_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_flkzbo_2\",\n                                \"category\": \"tree\",\n                                \"model\": \"flkzbo\",\n                                \"scale\": [\n                                    0.7470294237136841,\n                                    0.747040867805481,\n                                    0.7470352649688721\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_gmzozb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_gmzozb_0\",\n                                \"category\": \"tree\",\n                                \"model\": \"gmzozb\",\n                                \"scale\": [\n                                    0.48671355843544006,\n                                    0.48672476410865784,\n                                    0.486715167760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_gmzozb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_gmzozb_1\",\n                                \"category\": \"tree\",\n                                \"model\": \"gmzozb\",\n                                \"scale\": [\n                                    0.48671355843544006,\n                                    0.48672476410865784,\n                                    0.486715167760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_gmzozb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_gmzozb_2\",\n                                \"category\": \"tree\",\n                                \"model\": \"gmzozb\",\n                                \"scale\": [\n                                    0.48671355843544006,\n                                    0.48672476410865784,\n                                    0.486715167760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_gmzozb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_gmzozb_3\",\n                                \"category\": \"tree\",\n                                \"model\": \"gmzozb\",\n                                \"scale\": [\n                                    0.48671355843544006,\n                                    0.48672476410865784,\n                                    0.486715167760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_gmzozb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_gmzozb_4\",\n                                \"category\": \"tree\",\n                                \"model\": \"gmzozb\",\n                                \"scale\": [\n                                    0.48671355843544006,\n                                    0.48672476410865784,\n                                    0.486715167760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_rrhqpw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_rrhqpw_0\",\n                                \"category\": \"tree\",\n                                \"model\": \"rrhqpw\",\n                                \"scale\": [\n                                    0.6139122843742371,\n                                    0.613919198513031,\n                                    0.6139238476753235\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_rrhqpw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_rrhqpw_1\",\n                                \"category\": \"tree\",\n                                \"model\": \"rrhqpw\",\n                                \"scale\": [\n                                    0.6139122843742371,\n                                    0.613919198513031,\n                                    0.6139238476753235\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_rrhqpw_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_rrhqpw_2\",\n                                \"category\": \"tree\",\n                                \"model\": \"rrhqpw\",\n                                \"scale\": [\n                                    0.6139122843742371,\n                                    0.613919198513031,\n                                    0.6139238476753235\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_rrhqpw_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_rrhqpw_3\",\n                                \"category\": \"tree\",\n                                \"model\": \"rrhqpw\",\n                                \"scale\": [\n                                    0.6139122843742371,\n                                    0.613919198513031,\n                                    0.6139238476753235\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_rrhqpw_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_rrhqpw_4\",\n                                \"category\": \"tree\",\n                                \"model\": \"rrhqpw\",\n                                \"scale\": [\n                                    0.6139122843742371,\n                                    0.613919198513031,\n                                    0.6139238476753235\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_rrhqpw_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_rrhqpw_5\",\n                                \"category\": \"tree\",\n                                \"model\": \"rrhqpw\",\n                                \"scale\": [\n                                    0.6139122843742371,\n                                    0.613919198513031,\n                                    0.6139238476753235\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_0\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_1\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_2\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_3\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_4\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_5\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_6\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_7\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_8\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_nail_wlnail_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_nail_wlnail_0\",\n                                \"category\": \"wall_nail\",\n                                \"model\": \"wlnail\",\n                                \"scale\": [\n                                    1.5160282850265503,\n                                    1.5222605466842651,\n                                    1.5172984600067139\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_nail_wlnail_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_nail_wlnail_1\",\n                                \"category\": \"wall_nail\",\n                                \"model\": \"wlnail\",\n                                \"scale\": [\n                                    2.438278913497925,\n                                    2.4331214427948,\n                                    2.437626838684082\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b13640ddca0b3570656c5e120a6da059\"\n                            }\n                        },\n                        \"wall_nail_wlnail_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_nail_wlnail_2\",\n                                \"category\": \"wall_nail\",\n                                \"model\": \"wlnail\",\n                                \"scale\": [\n                                    1.5160282850265503,\n                                    1.5222605466842651,\n                                    1.5172984600067139\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wood_fireplace_gpnsij_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wood_fireplace_gpnsij_0\",\n                                \"category\": \"wood_fireplace\",\n                                \"model\": \"gpnsij\",\n                                \"scale\": [\n                                    0.9999626874923706,\n                                    1.000006079673767,\n                                    1.0000019073486328\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d797382fdee0780cf9e7cf822d7bc824\"\n                            }\n                        },\n                        \"bar_byvbuc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bar_byvbuc_0\",\n                                \"category\": \"bar\",\n                                \"model\": \"byvbuc\",\n                                \"scale\": [\n                                    0.9999271035194397,\n                                    1.0000065565109253,\n                                    1.0000300407409668\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"095d92fea41b6b33cbb3070538a28b5a\"\n                            }\n                        },\n                        \"burner_mdanhg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"burner_mdanhg_0\",\n                                \"category\": \"burner\",\n                                \"model\": \"mdanhg\",\n                                \"scale\": [\n                                    1.00006902217865,\n                                    1.000030517578125,\n                                    0.9988557696342468\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f85e9a7f5de5b91e25341137a775c302\"\n                            }\n                        },\n                        \"shelf_vanltx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_vanltx_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"vanltx\",\n                                \"scale\": [\n                                    0.999862790107727,\n                                    0.9999753832817078,\n                                    0.9999756217002869\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"647e7dbd099d323784d0490abfae4eac\"\n                            }\n                        },\n                        \"breakfast_table_xftrki_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"breakfast_table_xftrki_0\",\n                                \"category\": \"breakfast_table\",\n                                \"model\": \"xftrki\",\n                                \"scale\": [\n                                    1.0000485181808472,\n                                    0.9999868273735046,\n                                    0.9999451637268066\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3c6a214cdeb686e70120fa3115c65c97\"\n                            }\n                        },\n                        \"coffee_table_koagbh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"coffee_table_koagbh_0\",\n                                \"category\": \"coffee_table\",\n                                \"model\": \"koagbh\",\n                                \"scale\": [\n                                    0.9999982714653015,\n                                    1.0000159740447998,\n                                    1.000001311302185\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e461f59150bdc5b675a3b025c7b4e7ee\"\n                            }\n                        },\n                        \"garden_chair_cottya_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_chair_cottya_0\",\n                                \"category\": \"garden_chair\",\n                                \"model\": \"cottya\",\n                                \"scale\": [\n                                    1.0000277757644653,\n                                    1.0000189542770386,\n                                    0.9999681711196899\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_chair_cottya_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_chair_cottya_1\",\n                                \"category\": \"garden_chair\",\n                                \"model\": \"cottya\",\n                                \"scale\": [\n                                    1.0000277757644653,\n                                    1.0000189542770386,\n                                    0.9999681711196899\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_chair_cottya_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_chair_cottya_2\",\n                                \"category\": \"garden_chair\",\n                                \"model\": \"cottya\",\n                                \"scale\": [\n                                    1.0000277757644653,\n                                    1.0000189542770386,\n                                    0.9999681711196899\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_chair_lraplz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_chair_lraplz_0\",\n                                \"category\": \"garden_chair\",\n                                \"model\": \"lraplz\",\n                                \"scale\": [\n                                    1.0000391006469727,\n                                    1.0000197887420654,\n                                    0.999955415725708\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"standing_mirror_wwkuuf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"standing_mirror_wwkuuf_0\",\n                                \"category\": \"standing_mirror\",\n                                \"model\": \"wwkuuf\",\n                                \"scale\": [\n                                    1.000001072883606,\n                                    1.0000319480895996,\n                                    0.9999984502792358\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"straight_chair_hgunnf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_hgunnf_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"hgunnf\",\n                                \"scale\": [\n                                    1.0000176429748535,\n                                    0.9999879598617554,\n                                    0.9999611377716064\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7b7ec63d953cba350c0d1727bba2421e\"\n                            }\n                        },\n                        \"straight_chair_uofiqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_uofiqj_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"uofiqj\",\n                                \"scale\": [\n                                    1.0000693798065186,\n                                    0.9999873638153076,\n                                    0.9999604225158691\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1142004608ed16c041c0c264e6eb74a5\"\n                            }\n                        },\n                        \"straight_chair_uofiqj_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_uofiqj_1\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"uofiqj\",\n                                \"scale\": [\n                                    1.0000693798065186,\n                                    0.9999873638153076,\n                                    0.9999604225158691\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1142004608ed16c041c0c264e6eb74a5\"\n                            }\n                        },\n                        \"straight_chair_zdhnyg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_zdhnyg_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"zdhnyg\",\n                                \"scale\": [\n                                    1.0000176429748535,\n                                    0.9999879598617554,\n                                    0.9999611377716064\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a1e17c47ea4dd146449fbe05d7bc095a\"\n                            }\n                        },\n                        \"bar_egwapq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bar_egwapq_0\",\n                                \"category\": \"bar\",\n                                \"model\": \"egwapq\",\n                                \"scale\": [\n                                    0.9999869465827942,\n                                    0.9999972581863403,\n                                    1.0000406503677368\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fa31d04ec2beb2ccd5b8f4813360d422\"\n                            }\n                        },\n                        \"bottom_cabinet_rhdbzv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_rhdbzv_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"rhdbzv\",\n                                \"scale\": [\n                                    0.9999125599861145,\n                                    0.9999962449073792,\n                                    0.9999184012413025\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\"\n                            }\n                        },\n                        \"car_ssxsje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"car_ssxsje_0\",\n                                \"category\": \"car\",\n                                \"model\": \"ssxsje\",\n                                \"scale\": [\n                                    1.0000019073486328,\n                                    0.9999808073043823,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_alydei_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_alydei_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"alydei\",\n                                \"scale\": [\n                                    0.999988853931427,\n                                    0.9999680519104004,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"86e365b8fb102d702c6505cd28459c6b\"\n                            }\n                        },\n                        \"ceilings_aoekre_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_aoekre_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"aoekre\",\n                                \"scale\": [\n                                    0.9999804496765137,\n                                    1.0000091791152954,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fed445c055bd7da4df963a2455755786\"\n                            }\n                        },\n                        \"ceilings_feolie_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_feolie_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"feolie\",\n                                \"scale\": [\n                                    0.9999893307685852,\n                                    0.9999977946281433,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0c8c59ac8c8af78b9d8eec93e762df12\"\n                            }\n                        },\n                        \"ceilings_isizwh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_isizwh_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"isizwh\",\n                                \"scale\": [\n                                    0.9999997019767761,\n                                    0.9999985098838806,\n                                    0.9999061226844788\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d94c0f06b0244d1f69d59096d0a0ead6\"\n                            }\n                        },\n                        \"ceilings_kbxtoc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_kbxtoc_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"kbxtoc\",\n                                \"scale\": [\n                                    0.9999968409538269,\n                                    1.0000067949295044,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"308be41b758fc0ca3f8ac8e31ce37d86\"\n                            }\n                        },\n                        \"ceilings_sbkyof_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_sbkyof_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"sbkyof\",\n                                \"scale\": [\n                                    1.0000014305114746,\n                                    0.9999884366989136,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"46c82d22b374f34f5b527f708c1c355b\"\n                            }\n                        },\n                        \"ceilings_vkfllw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_vkfllw_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"vkfllw\",\n                                \"scale\": [\n                                    1.000012993812561,\n                                    1.0000267028808594,\n                                    0.9999062418937683\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\": \"9a9b27c732cc2d0cee5ece6550efee5b\"\n                            }\n                        },\n                        \"decorative_sign_hgonwj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"decorative_sign_hgonwj_0\",\n                                \"category\": \"decorative_sign\",\n                                \"model\": \"hgonwj\",\n                                \"scale\": [\n                                    0.9999993443489075,\n                                    1.0000003576278687,\n                                    0.9999220967292786\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"97e453ea122521909d3b30c306a76c63\"\n                            }\n                        },\n                        \"decorative_sign_rypeha_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"decorative_sign_rypeha_0\",\n                                \"category\": \"decorative_sign\",\n                                \"model\": \"rypeha\",\n                                \"scale\": [\n                                    0.9984210729598999,\n                                    1.0001134872436523,\n                                    1.0001660585403442\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"decorative_sign_xzsmxq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"decorative_sign_xzsmxq_0\",\n                                \"category\": \"decorative_sign\",\n                                \"model\": \"xzsmxq\",\n                                \"scale\": [\n                                    0.9994317293167114,\n                                    0.9999769926071167,\n                                    1.0000669956207275\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_bexenl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_bexenl_0\",\n                                \"category\": \"door\",\n                                \"model\": \"bexenl\",\n                                \"scale\": [\n                                    0.9997830986976624,\n                                    1.0000373125076294,\n                                    0.9999975562095642\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\",\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_bexenl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_bexenl_1\",\n                                \"category\": \"door\",\n                                \"model\": \"bexenl\",\n                                \"scale\": [\n                                    0.9984117150306702,\n                                    1.0000373125076294,\n                                    0.9999975562095642\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_vudhlc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_0\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_vudhlc_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_1\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_vudhlc_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_2\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\"\n                            }\n                        },\n                        \"door_vudhlc_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_3\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\"\n                            }\n                        },\n                        \"downlight_pawfmw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_10\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_10\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_11\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_12\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_13\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_13\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_14\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_14\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_15\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_15\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_16\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_16\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_17\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_17\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_7\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_8\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_9\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pxrmnt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pxrmnt_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pxrmnt\",\n                                \"scale\": [\n                                    1.0003904104232788,\n                                    0.999914824962616,\n                                    1.0003902912139893\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pxrmnt_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pxrmnt_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pxrmnt\",\n                                \"scale\": [\n                                    1.0003904104232788,\n                                    0.999914824962616,\n                                    1.0003902912139893\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pxrmnt_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pxrmnt_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pxrmnt\",\n                                \"scale\": [\n                                    1.0003904104232788,\n                                    0.999914824962616,\n                                    1.0003902912139893\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"driveway_umalys_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"driveway_umalys_0\",\n                                \"category\": \"driveway\",\n                                \"model\": \"umalys\",\n                                \"scale\": [\n                                    0.9999949932098389,\n                                    1.0000005960464478,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"drop_in_sink_hecjnt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"drop_in_sink_hecjnt_0\",\n                                \"category\": \"drop_in_sink\",\n                                \"model\": \"hecjnt\",\n                                \"scale\": [\n                                    0.9999883770942688,\n                                    1.0000587701797485,\n                                    0.9999573230743408\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"drop_in_sink_lkklqs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"drop_in_sink_lkklqs_0\",\n                                \"category\": \"drop_in_sink\",\n                                \"model\": \"lkklqs\",\n                                \"scale\": [\n                                    1.0000046491622925,\n                                    0.9999699592590332,\n                                    1.0000004768371582\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2425c55bea6d7dab1be772b6e9a57b7d\"\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_2\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_3\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"fixed_window_kvdqep_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_kvdqep_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"kvdqep\",\n                                \"scale\": [\n                                    0.9996340274810791,\n                                    0.9999764561653137,\n                                    0.9999943971633911\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"61725e3a9b11c1062ad9959d78f32a2c\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"floors_ghetev_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_ghetev_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"ghetev\",\n                                \"scale\": [\n                                    0.9999978542327881,\n                                    1.0000015497207642,\n                                    0.9999032616615295\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_irvmpb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_irvmpb_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"irvmpb\",\n                                \"scale\": [\n                                    1.0000075101852417,\n                                    1.0000039339065552,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_iwsyoz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_iwsyoz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"iwsyoz\",\n                                \"scale\": [\n                                    1.0000020265579224,\n                                    0.9999590516090393,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nbxnpk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nbxnpk_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nbxnpk\",\n                                \"scale\": [\n                                    0.9999986290931702,\n                                    1.000006079673767,\n                                    1.0000001192092896\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_ogynye_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_ogynye_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"ogynye\",\n                                \"scale\": [\n                                    0.9999971389770508,\n                                    1.0000039339065552,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_qadhjb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_qadhjb_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"qadhjb\",\n                                \"scale\": [\n                                    1.0000005960464478,\n                                    1.0000057220458984,\n                                    1.0000001192092896\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_sdejoi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_sdejoi_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"sdejoi\",\n                                \"scale\": [\n                                    0.9999986290931702,\n                                    0.9999680519104004,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_slmyas_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_slmyas_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"slmyas\",\n                                \"scale\": [\n                                    0.9999943375587463,\n                                    0.9999828934669495,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_ulujpr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_ulujpr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"ulujpr\",\n                                \"scale\": [\n                                    1.0000017881393433,\n                                    0.9999909996986389,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"da6d83b222d92083f433c257beb7824a\"\n                            }\n                        },\n                        \"floors_xkkysf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_xkkysf_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"xkkysf\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999807476997375,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_xorxro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_xorxro_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"xorxro\",\n                                \"scale\": [\n                                    0.9999860525131226,\n                                    0.9999966025352478,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_zqjkvm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zqjkvm_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zqjkvm\",\n                                \"scale\": [\n                                    1.0000038146972656,\n                                    1.0000016689300537,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5ef2eea344a85c5dbda9b196082a08b9\"\n                            }\n                        },\n                        \"garage_door_prdjyt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garage_door_prdjyt_0\",\n                                \"category\": \"garage_door\",\n                                \"model\": \"prdjyt\",\n                                \"scale\": [\n                                    1.0000101327896118,\n                                    0.9999930262565613,\n                                    0.9999902844429016\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_light_qyfrwj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_0\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_light_qyfrwj_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_1\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_light_qyfrwj_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_2\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_light_qyfrwj_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_3\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_light_qyfrwj_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_4\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_light_qyfrwj_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_5\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_light_qyfrwj_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_6\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_light_qyfrwj_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_7\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_light_qyfrwj_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_8\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hall_tree_daxzaw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hall_tree_daxzaw_0\",\n                                \"category\": \"hall_tree\",\n                                \"model\": \"daxzaw\",\n                                \"scale\": [\n                                    1.0000174045562744,\n                                    0.9999738335609436,\n                                    1.000008225440979\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hall_tree_upkvgr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hall_tree_upkvgr_0\",\n                                \"category\": \"hall_tree\",\n                                \"model\": \"upkvgr\",\n                                \"scale\": [\n                                    1.0000102519989014,\n                                    0.9999994039535522,\n                                    0.9999828338623047\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                                    0.9989968538284302,\n                                    0.999685525894165,\n                                    0.9994485974311829\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"lawn_aztwla_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_aztwla_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"aztwla\",\n                                \"scale\": [\n                                    0.9999991059303284,\n                                    1.0000005960464478,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"lawn_srfikq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_srfikq_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"srfikq\",\n                                \"scale\": [\n                                    0.9999915957450867,\n                                    1.0000064373016357,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"lawn_tiqndr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_tiqndr_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"tiqndr\",\n                                \"scale\": [\n                                    0.9999890923500061,\n                                    1.0000040531158447,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"lawn_zjtrpt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_zjtrpt_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"zjtrpt\",\n                                \"scale\": [\n                                    0.9999980330467224,\n                                    0.9999983310699463,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"mirror_edxfnt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_edxfnt_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"edxfnt\",\n                                \"scale\": [\n                                    0.9987490177154541,\n                                    1.0000622272491455,\n                                    0.9999228119850159\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"motion_sensor_aecflf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"motion_sensor_aecflf_0\",\n                                \"category\": \"motion_sensor\",\n                                \"model\": \"aecflf\",\n                                \"scale\": [\n                                    1.000545620918274,\n                                    1.0000216960906982,\n                                    0.9992833137512207\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"paver_eskaca_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"paver_eskaca_0\",\n                                \"category\": \"paver\",\n                                \"model\": \"eskaca\",\n                                \"scale\": [\n                                    0.9999935626983643,\n                                    0.9999943375587463,\n                                    1.000009298324585\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"paver_lmdfdn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"paver_lmdfdn_0\",\n                                \"category\": \"paver\",\n                                \"model\": \"lmdfdn\",\n                                \"scale\": [\n                                    0.999997615814209,\n                                    1.0000035762786865,\n                                    1.0000982284545898\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"paver_sekqqq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"paver_sekqqq_0\",\n                                \"category\": \"paver\",\n                                \"model\": \"sekqqq\",\n                                \"scale\": [\n                                    0.9999988675117493,\n                                    0.9999991655349731,\n                                    0.9999514818191528\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_ekagyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ekagyj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ekagyj\",\n                                \"scale\": [\n                                    1.000014066696167,\n                                    1.0000383853912354,\n                                    1.000417947769165\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"931f520415eaa97c3a351f55a9e3f1db\"\n                            }\n                        },\n                        \"picture_ggajdz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ggajdz_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ggajdz\",\n                                \"scale\": [\n                                    1.000124454498291,\n                                    1.0001705884933472,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"90222f7d3d6fd6d98a441a56b8e3da48\"\n                            }\n                        },\n                        \"picture_hffaxw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_hffaxw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"hffaxw\",\n                                \"scale\": [\n                                    1.0000427961349487,\n                                    0.9999925494194031,\n                                    1.0003688335418701\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_jnecmu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_jnecmu_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"jnecmu\",\n                                \"scale\": [\n                                    0.999976634979248,\n                                    1.0000495910644531,\n                                    1.001776099205017\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_qlkknu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_qlkknu_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"qlkknu\",\n                                \"scale\": [\n                                    0.9999873638153076,\n                                    1.0000169277191162,\n                                    0.9985789656639099\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_qlsyco_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_qlsyco_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"qlsyco\",\n                                \"scale\": [\n                                    0.9999110102653503,\n                                    0.9999677538871765,\n                                    0.999721884727478\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7e7bd70f770fefe441fa4e7f17a72217\"\n                            }\n                        },\n                        \"picture_tveyoh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_tveyoh_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"tveyoh\",\n                                \"scale\": [\n                                    0.9999850392341614,\n                                    1.000157356262207,\n                                    0.9978264570236206\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_yzbpie_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_yzbpie_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yzbpie\",\n                                \"scale\": [\n                                    1.0,\n                                    0.9999328851699829,\n                                    0.9977754950523376\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"playground_xdlcdi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"playground_xdlcdi_0\",\n                                \"category\": \"playground\",\n                                \"model\": \"xdlcdi\",\n                                \"scale\": [\n                                    1.0000079870224,\n                                    1.0000005960464478,\n                                    0.9999991059303284\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"rail_fence_owbrvb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_owbrvb_0\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"owbrvb\",\n                                \"scale\": [\n                                    0.9999550580978394,\n                                    0.9999983310699463,\n                                    0.999997079372406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"rail_fence_owbrvb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_owbrvb_1\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"owbrvb\",\n                                \"scale\": [\n                                    0.9999550580978394,\n                                    0.9999983310699463,\n                                    0.999997079372406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"rail_fence_owbrvb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_owbrvb_2\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"owbrvb\",\n                                \"scale\": [\n                                    0.9999550580978394,\n                                    0.9999983310699463,\n                                    0.999997079372406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"rail_fence_owbrvb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_owbrvb_3\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"owbrvb\",\n                                \"scale\": [\n                                    0.9999550580978394,\n                                    0.9999983310699463,\n                                    0.999997079372406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"rail_fence_owbrvb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_owbrvb_4\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"owbrvb\",\n                                \"scale\": [\n                                    0.9999550580978394,\n                                    0.9999983310699463,\n                                    0.999997079372406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"rail_fence_owbrvb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_owbrvb_5\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"owbrvb\",\n                                \"scale\": [\n                                    0.9999550580978394,\n                                    0.9999983310699463,\n                                    0.999997079372406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"range_hood_xvdfpp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"range_hood_xvdfpp_0\",\n                                \"category\": \"range_hood\",\n                                \"model\": \"xvdfpp\",\n                                \"scale\": [\n                                    0.999972939491272,\n                                    0.9999890923500061,\n                                    0.9999650716781616\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"81bfc056084ea61abdd244371186d8c3\"\n                            }\n                        },\n                        \"roof_pgwmer_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"roof_pgwmer_0\",\n                                \"category\": \"roof\",\n                                \"model\": \"pgwmer\",\n                                \"scale\": [\n                                    1.0000041723251343,\n                                    1.000003457069397,\n                                    1.000004768371582\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"16e85fae45365873f88aa2ba4e7e4acc\"\n                            }\n                        },\n                        \"room_light_eqbjaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_light_eqbjaz_0\",\n                                \"category\": \"room_light\",\n                                \"model\": \"eqbjaz\",\n                                \"scale\": [\n                                    0.9999228715896606,\n                                    0.9999228715896606,\n                                    1.0000250339508057\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"41b6772d0ee658d7f567c3aaf18fe00e\"\n                            }\n                        },\n                        \"room_light_kiuayi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_light_kiuayi_0\",\n                                \"category\": \"room_light\",\n                                \"model\": \"kiuayi\",\n                                \"scale\": [\n                                    0.999922513961792,\n                                    0.999922513961792,\n                                    0.9999570250511169\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0a708f17db358d92424529282bde269d\"\n                            }\n                        },\n                        \"sofa_frlxgz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_frlxgz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"frlxgz\",\n                                \"scale\": [\n                                    0.9999723434448242,\n                                    1.0000096559524536,\n                                    1.0000298023223877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"97f053b59fad5686fa81fb917c330d8c\"\n                            }\n                        },\n                        \"stairs_tikozn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"stairs_tikozn_0\",\n                                \"category\": \"stairs\",\n                                \"model\": \"tikozn\",\n                                \"scale\": [\n                                    0.9999832510948181,\n                                    0.9999979138374329,\n                                    1.0000052452087402\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3a312e0397d4aaf7758006345e2b4ac0\"\n                            }\n                        },\n                        \"swing_set_yzhrgz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"swing_set_yzhrgz_0\",\n                                \"category\": \"swing_set\",\n                                \"model\": \"yzhrgz\",\n                                \"scale\": [\n                                    0.9999914169311523,\n                                    1.0000094175338745,\n                                    0.9999831318855286\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"top_cabinet_tynnnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_tynnnw_0\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": \"tynnnw\",\n                                \"scale\": [\n                                    0.9999695420265198,\n                                    1.0000219345092773,\n                                    1.0000149011611938\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bb9e8ae548dea044f81606680c1ddd4a\"\n                            }\n                        },\n                        \"top_cabinet_tynnnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_tynnnw_1\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": \"tynnnw\",\n                                \"scale\": [\n                                    0.9999695420265198,\n                                    1.0000219345092773,\n                                    1.0000149011611938\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bb9e8ae548dea044f81606680c1ddd4a\"\n                            }\n                        },\n                        \"track_light_ltnnrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"track_light_ltnnrc_0\",\n                                \"category\": \"track_light\",\n                                \"model\": \"ltnnrc\",\n                                \"scale\": [\n                                    1.0000474452972412,\n                                    0.9999818801879883,\n                                    1.0001263618469238\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\"\n                            }\n                        },\n                        \"track_light_ltnnrc_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"track_light_ltnnrc_1\",\n                                \"category\": \"track_light\",\n                                \"model\": \"ltnnrc\",\n                                \"scale\": [\n                                    1.0000474452972412,\n                                    0.9999818801879883,\n                                    1.0001263618469238\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\"\n                            }\n                        },\n                        \"wall_mounted_light_mbhxbg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_mbhxbg_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"mbhxbg\",\n                                \"scale\": [\n                                    0.9992985725402832,\n                                    1.0001024007797241,\n                                    0.9997308850288391\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_tv_dxyfxf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_dxyfxf_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"dxyfxf\",\n                                \"scale\": [\n                                    1.0007919073104858,\n                                    1.0000017881393433,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1990336656301cdc2627aae5f7318022\"\n                            }\n                        },\n                        \"wall_socket_nujxel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_nujxel_0\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"nujxel\",\n                                \"scale\": [\n                                    1.0000932216644287,\n                                    1.0000927448272705,\n                                    0.9969304800033569\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_abtbfo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_abtbfo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"abtbfo\",\n                                \"scale\": [\n                                    0.999961793422699,\n                                    1.0000077486038208,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5b4896a60c91fe6a70dfaf6d3dcdc497\"\n                            }\n                        },\n                        \"walls_bjekee_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bjekee_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bjekee\",\n                                \"scale\": [\n                                    0.9999438524246216,\n                                    1.0000054836273193,\n                                    1.000013828277588\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8cf95618eba09e45afe87c1d59d4a841\"\n                            }\n                        },\n                        \"walls_buhmrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_buhmrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"buhmrc\",\n                                \"scale\": [\n                                    0.9999995231628418,\n                                    0.9999675750732422,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6d240c22e5f36de3ad60ea086569d665\"\n                            }\n                        },\n                        \"walls_chmqjn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_chmqjn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"chmqjn\",\n                                \"scale\": [\n                                    1.0000461339950562,\n                                    0.999961793422699,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"332ac54222e17e0377a4004614cf7790\"\n                            }\n                        },\n                        \"walls_cvdpaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cvdpaq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cvdpaq\",\n                                \"scale\": [\n                                    0.9999979734420776,\n                                    0.9999068975448608,\n                                    1.000015377998352\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"61d61f77095a80ff9b5f03c2669df801\"\n                            }\n                        },\n                        \"walls_cxsmhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cxsmhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cxsmhr\",\n                                \"scale\": [\n                                    1.000010371208191,\n                                    0.9997971057891846,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1b5be077939eeb28fb416785efe26f03\"\n                            }\n                        },\n                        \"walls_dewyls_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dewyls_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dewyls\",\n                                \"scale\": [\n                                    1.0000096559524536,\n                                    0.9997960329055786,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fcae1747905d4fed1bdf50e4e2bc6479\"\n                            }\n                        },\n                        \"walls_dlfarz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dlfarz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dlfarz\",\n                                \"scale\": [\n                                    0.9999517202377319,\n                                    0.999993085861206,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1f18407b01312aa0fd583b93adf96e96\"\n                            }\n                        },\n                        \"walls_epketb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_epketb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"epketb\",\n                                \"scale\": [\n                                    0.9999929666519165,\n                                    0.9999200701713562,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d8e9b89b73cd854af80a55322a431a0d\"\n                            }\n                        },\n                        \"walls_fwsbwf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fwsbwf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fwsbwf\",\n                                \"scale\": [\n                                    1.0001320838928223,\n                                    0.9999893307685852,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9f3aa2c8d583922ab877f18a3e5a8df9\"\n                            }\n                        },\n                        \"walls_gishpf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gishpf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gishpf\",\n                                \"scale\": [\n                                    0.9998095035552979,\n                                    0.9999909996986389,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c972e073ef1ab690da74d37fd2dcb490\"\n                            }\n                        },\n                        \"walls_hcbqvq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hcbqvq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hcbqvq\",\n                                \"scale\": [\n                                    0.9998935461044312,\n                                    0.9998812675476074,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4c223a0241e1c7e919f7514767a54b7a\"\n                            }\n                        },\n                        \"walls_jemunw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jemunw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jemunw\",\n                                \"scale\": [\n                                    0.9999935030937195,\n                                    0.9997928738594055,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3122bb8332fa6ea366a14e86d3e219ce\"\n                            }\n                        },\n                        \"walls_jglkyp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jglkyp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jglkyp\",\n                                \"scale\": [\n                                    0.9999024271965027,\n                                    1.0000457763671875,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"042e510fad798211dad67f4921944b91\"\n                            }\n                        },\n                        \"walls_jnbgxj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jnbgxj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jnbgxj\",\n                                \"scale\": [\n                                    0.9999818205833435,\n                                    1.000158429145813,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6cdd3a9f66cf52b3a80bf7f97e725e32\"\n                            }\n                        },\n                        \"walls_jzwmhx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jzwmhx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jzwmhx\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.9999966025352478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"261879bc3e684bf2dbd77d26f0c2b12e\"\n                            }\n                        },\n                        \"walls_lblwvg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lblwvg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lblwvg\",\n                                \"scale\": [\n                                    0.999974250793457,\n                                    0.9998873472213745,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a95c81ecd20891f1bafe760b47c06420\"\n                            }\n                        },\n                        \"walls_lovfhw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lovfhw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lovfhw\",\n                                \"scale\": [\n                                    0.9998873472213745,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\"\n                            }\n                        },\n                        \"walls_mgumxz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgumxz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgumxz\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.999988853931427,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\"\n                            }\n                        },\n                        \"walls_mgvxov_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgvxov_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgvxov\",\n                                \"scale\": [\n                                    0.9998886585235596,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"dde5a8a24f95e81ea67759ba1da85bbe\"\n                            }\n                        },\n                        \"walls_miltge_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_miltge_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"miltge\",\n                                \"scale\": [\n                                    1.0000001192092896,\n                                    0.9999647736549377,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"80acf118157114cffb17d2205bd44b6c\"\n                            }\n                        },\n                        \"walls_mkgplc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mkgplc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mkgplc\",\n                                \"scale\": [\n                                    1.0000089406967163,\n                                    1.0001459121704102,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\"\n                            }\n                        },\n                        \"walls_mwlvfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mwlvfb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mwlvfb\",\n                                \"scale\": [\n                                    1.0000306367874146,\n                                    1.0001626014709473,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\"\n                            }\n                        },\n                        \"walls_oiagxk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oiagxk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oiagxk\",\n                                \"scale\": [\n                                    0.9999501705169678,\n                                    1.0000206232070923,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\"\n                            }\n                        },\n                        \"walls_oqrbxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oqrbxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oqrbxo\",\n                                \"scale\": [\n                                    1.000234842300415,\n                                    1.0000065565109253,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\"\n                            }\n                        },\n                        \"walls_owxeej_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_owxeej_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"owxeej\",\n                                \"scale\": [\n                                    0.9999358654022217,\n                                    1.000019907951355,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\"\n                            }\n                        },\n                        \"walls_paarsl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_paarsl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"paarsl\",\n                                \"scale\": [\n                                    0.999906599521637,\n                                    1.0000128746032715,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e9e1b102347c179e7404ac8c63a057a1\"\n                            }\n                        },\n                        \"walls_pmygxs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pmygxs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pmygxs\",\n                                \"scale\": [\n                                    0.999999463558197,\n                                    0.9998095035552979,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cfa38d73f5886197dba5e112adfcc07a\"\n                            }\n                        },\n                        \"walls_qeofms_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qeofms_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qeofms\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    0.999953031539917,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"de4be4ceec4d1ed48e605abe3782ada8\"\n                            }\n                        },\n                        \"walls_rrabdp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rrabdp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rrabdp\",\n                                \"scale\": [\n                                    0.9999839663505554,\n                                    1.000156283378601,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ce0382609f884e45db5568d574f2e732\"\n                            }\n                        },\n                        \"walls_uiloru_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uiloru_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uiloru\",\n                                \"scale\": [\n                                    0.9999812245368958,\n                                    0.9997938871383667,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0ed21a252059af2ca999e818dfd81cbb\"\n                            }\n                        },\n                        \"walls_umqqmh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_umqqmh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"umqqmh\",\n                                \"scale\": [\n                                    1.000093698501587,\n                                    0.9998928904533386,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"be4f1289ffe5930678abdd08063eb74a\"\n                            }\n                        },\n                        \"walls_upttgq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_upttgq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"upttgq\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    1.0000076293945312,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"326697987c9faf715f6e6116bc9f3801\"\n                            }\n                        },\n                        \"walls_vxveul_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vxveul_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vxveul\",\n                                \"scale\": [\n                                    0.9999592900276184,\n                                    1.0000137090682983,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"db479ab9cc217e69d2cb0748a8fbe312\"\n                            }\n                        },\n                        \"walls_weybsr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_weybsr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"weybsr\",\n                                \"scale\": [\n                                    1.0000098943710327,\n                                    0.9999802112579346,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8b98d47f8b384604d4211372b3575ebd\"\n                            }\n                        },\n                        \"walls_xsubff_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xsubff_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xsubff\",\n                                \"scale\": [\n                                    1.0000114440917969,\n                                    1.0000354051589966,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\"\n                            }\n                        },\n                        \"walls_xyrbgy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xyrbgy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xyrbgy\",\n                                \"scale\": [\n                                    1.0,\n                                    0.9999845027923584,\n                                    1.0000032186508179\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\"\n                            }\n                        },\n                        \"walls_ylpkth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ylpkth_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ylpkth\",\n                                \"scale\": [\n                                    1.0000102519989014,\n                                    1.000156283378601,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\"\n                            }\n                        },\n                        \"walls_zdhaff_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zdhaff_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zdhaff\",\n                                \"scale\": [\n                                    1.0000907182693481,\n                                    1.0000133514404297,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\"\n                            }\n                        },\n                        \"washer_ziomqg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"washer_ziomqg_0\",\n                                \"category\": \"washer\",\n                                \"model\": \"ziomqg\",\n                                \"scale\": [\n                                    1.0000054836273193,\n                                    0.9999728202819824,\n                                    0.9999645948410034\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"can_of_soda_113\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"can_of_soda_113\",\n                                \"category\": \"can_of_soda\",\n                                \"model\": \"lugwcz\",\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\": \"de9950e5b2158ed7fef020cada76b7d3\"\n                            }\n                        },\n                        \"can_of_soda_114\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"can_of_soda_114\",\n                                \"category\": \"can_of_soda\",\n                                \"model\": \"itolcg\",\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\": \"05fea4c051802b657cd0f7d6185e81e8\"\n                            }\n                        },\n                        \"can_of_soda_115\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"can_of_soda_115\",\n                                \"category\": \"can_of_soda\",\n                                \"model\": \"itolcg\",\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\": \"05fea4c051802b657cd0f7d6185e81e8\"\n                            }\n                        },\n                        \"trash_can_116\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trash_can_116\",\n                                \"category\": \"trash_can\",\n                                \"model\": \"wkxtxh\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"85a0df9923302ea85ffaf875f9c4916b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                                                -1.0,\n                                                -1.0\n                                            ],\n                                            [\n                                                1.0,\n                                                1.0,\n                                                1.0\n                                            ]\n                                        ],\n                                        \"command_output_limits\": [\n                                            [\n                                                -0.75,\n                                                -0.75,\n                                                -1.0\n                                            ],\n                                            [\n                                                0.75,\n                                                0.75,\n                                                1.0\n                                            ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": false,\n                                \"reset_joint_pos\": [\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    1.024999976158142,\n                                    -1.4500000476837158,\n                                    -0.4699999988079071,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.0,\n                                    0.05000000074505806,\n                                    0.05000000074505806,\n                                    0.05000000074505806,\n                                    0.05000000074505806\n                                ],\n                                \"obs_modalities\": [],\n                                \"sensor_config\": {\n                                    \"VisionSensor\": {\n                                        \"sensor_kwargs\": {\n                                            \"image_height\": 1080,\n                                            \"image_width\": 1080\n                                        }\n                                    }\n                                },\n                                \"grasping_mode\": \"assisted\",\n                                \"expected_file_hash\": \"9f34cb802db8e2340aa186b6fc6554fd\"\n                            }\n                        }\n                    }\n                },\n                \"state\": {\n                    \"pos\": [\n                        0.0,\n                        0.0,\n                        0.0\n                    ],\n                    \"ori\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.0\n                    ],\n                    \"registry\": {\n                        \"system_registry\": {},\n                        \"object_registry\": {\n                            \"bottom_cabinet_qacthv_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.485633134841919,\n                                        -0.7423186302185059,\n                                        0.3915698528289795\n                                    ],\n                                    \"ori\": [\n                                        0.0002889409370254725,\n                                        0.00036380518577061594,\n                                        0.7071062326431274,\n                                        0.7071071863174438\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    6.792648576947613e-08,\n                                    6.792078011130798e-08,\n                                    6.792502915686782e-08\n                                ],\n                                \"joint_vel\": [\n                                    0.0,\n                                    0.0,\n                                    0.0\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.309931516647339,\n                                        -3.0563852787017822,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.1376190185546875,\n                                        -3.686838388442993,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_10\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.96783447265625,\n                                        -2.8315067291259766,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.46174880862236023,\n                                        0.8870107531547546\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.701294422149658,\n                                        -3.102726459503174,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.3420200049877167,\n                                        0.9396926760673523\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.2271318435668945,\n                                        -3.8162572383880615,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.3420200049877167,\n                                        0.9396926760673523\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.086378574371338,\n                                        -3.0896213054656982,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.04361913353204727,\n                                        0.9990482330322266\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.202367305755615,\n                                        -3.903191566467285,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.13052600622177124,\n                                        0.9914448857307434\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_6\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.23073959350586,\n                                        -3.7464029788970947,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.04361913353204727,\n                                        0.9990482330322266\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_7\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        9.961773872375488,\n                                        -3.7166988849639893,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.04361913353204727,\n                                        0.9990482330322266\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_8\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        10.22603988647461,\n                                        -2.983616828918457,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.46174880862236023,\n                                        0.8870107531547546\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_9\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.675419330596924,\n                                        -3.2170379161834717,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.46174880862236023,\n                                        0.8870107531547546\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_frqici_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        20.75873374938965,\n                                        9.86223316192627,\n                                        0.9856368899345398\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_frqici_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.027297019958496,\n                                        13.455772399902344,\n                                        0.9856368899345398\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_frqici_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.298891305923462,\n                                        15.796577453613281,\n                                        0.9856368899345398\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_frqici_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -15.242820739746094,\n                                        0.48821622133255005,\n                                        0.9856368899345398\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_frqici_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        20.850187301635742,\n                                        -3.360307216644287,\n                                        0.9856368899345398\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kjakgd_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.7034783363342285,\n                                        -3.291834592819214,\n                                        2.0558624267578125\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kjakgd_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.769996404647827,\n                                        -3.55696177482605,\n                                        2.0558624267578125\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.642787754535675,\n                                        0.7660443186759949\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_knspbi_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.5200530290603638,\n                                        -3.2112197875976562,\n                                        0.25204479694366455\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.8660253882408142,\n                                        -0.5\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_knspbi_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.59912633895874,\n                                        -3.1280007362365723,\n                                        0.25204479694366455\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.8660253882408142,\n                                        -0.5\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_knspbi_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.925740718841553,\n                                        -3.5986106395721436,\n                                        0.25204479694366455\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.8660253882408142,\n                                        -0.5\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_knspbi_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.483965873718262,\n                                        -2.894782304763794,\n                                        0.25204479694366455\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.8660253882408142,\n                                        -0.5\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_knspbi_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        9.084033012390137,\n                                        -3.5830323696136475,\n                                        0.25204479694366455\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.8660253882408142,\n                                        -0.5\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_knspbi_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        9.486013412475586,\n                                        -2.9638442993164062,\n                                        0.25204479694366455\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.8660253882408142,\n                                        -0.5\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kyghri_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.670629501342773,\n                                        -2.0950727462768555,\n                                        0.3707593083381653\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kyghri_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.8797078132629395,\n                                        -2.000932216644287,\n                                        0.3707593083381653\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kyghri_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.005313873291016,\n                                        -2.117234706878662,\n                                        0.3707593083381653\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.3826832175254822,\n                                        0.9238796234130859\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kyghri_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.0211896896362305,\n                                        -2.1722192764282227,\n                                        0.17698588967323303\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.3826832175254822,\n                                        0.9238796234130859\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kyghri_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.041856288909912,\n                                        -2.1108734607696533,\n                                        0.3707593083381653\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.9848077297210693,\n                                        0.17364856600761414\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kyghri_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.0507020950317383,\n                                        -2.1921541690826416,\n                                        0.3707593083381653\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.9848077297210693,\n                                        0.17364856600761414\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kyghri_6\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.6126000881195068,\n                                        -2.1862549781799316,\n                                        0.3707593083381653\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.2588188648223877,\n                                        0.9659258723258972\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kyghri_7\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        9.238265037536621,\n                                        -2.1379947662353516,\n                                        0.3707593083381653\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_kyghri_8\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        10.207281112670898,\n                                        -2.0928637981414795,\n                                        0.3707593083381653\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.13052600622177124,\n                                        0.9914448857307434\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_lfyqkj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -8.518165588378906,\n                                        0.8348050713539124,\n                                        0.44823944568634033\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_lfyqkj_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -7.2602033615112305,\n                                        0.756334125995636,\n                                        0.44823944568634033\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.3007056713104248,\n                                        0.9537169933319092\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_lfyqkj_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.046332836151123,\n                                        0.7652438879013062,\n                                        0.44823944568634033\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.8191521763801575,\n                                        0.5735762119293213\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_lfyqkj_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.830376625061035,\n                                        -0.49171385169029236,\n                                        0.44823944568634033\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.8191521763801575,\n                                        0.5735762119293213\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_lfyqkj_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.958502769470215,\n                                        14.836939811706543,\n                                        0.44823944568634033\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.8191521763801575,\n                                        0.5735762119293213\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_lfyqkj_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        11.425065040588379,\n                                        6.3221306800842285,\n                                        0.44823944568634033\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.8191521763801575,\n                                        0.5735762119293213\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_lfyqkj_6\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        18.748220443725586,\n                                        13.789291381835938,\n                                        0.44823944568634033\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.8191521763801575,\n                                        0.5735762119293213\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_oedeqi_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        11.990391731262207,\n                                        1.0446003675460815,\n                                        0.8024067878723145\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_oedeqi_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.749435901641846,\n                                        11.006834030151367,\n                                        0.8024067878723145\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_oedeqi_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -12.70416259765625,\n                                        -0.18050512671470642,\n                                        0.8024067878723145\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_pjhpwk_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        17.009401321411133,\n                                        7.0192670822143555,\n                                        1.0555434226989746\n                                    ],\n                                    \"ori\": [\n                                        0.023951450362801552,\n                                        5.6099916379004355e-12,\n                                        2.341456473153869e-10,\n                                        0.999713122844696\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_pjhpwk_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        18.217195510864258,\n                                        8.513957977294922,\n                                        1.055543303489685\n                                    ],\n                                    \"ori\": [\n                                        0.023588618263602257,\n                                        0.004159354604780674,\n                                        0.17359839379787445,\n                                        0.984525203704834\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_pjhpwk_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        11.568257331848145,\n                                        -2.373120069503784,\n                                        1.0555437803268433\n                                    ],\n                                    \"ori\": [\n                                        0.023588618263602257,\n                                        0.00415935181081295,\n                                        0.17359839379787445,\n                                        0.984525203704834\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_pjhpwk_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        16.462993621826172,\n                                        14.776239395141602,\n                                        1.055543303489685\n                                    ],\n                                    \"ori\": [\n                                        0.02358861453831196,\n                                        0.0041593522764742374,\n                                        0.17359839379787445,\n                                        0.984525203704834\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_pjhpwk_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.339567184448242,\n                                        10.511612892150879,\n                                        1.055543303489685\n                                    ],\n                                    \"ori\": [\n                                        0.02358861453831196,\n                                        0.0041593522764742374,\n                                        0.17359839379787445,\n                                        0.984525203704834\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_yhjhta_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -10.279953956604004,\n                                        9.903782844543457,\n                                        0.046305060386657715\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.2588191032409668,\n                                        0.9659258127212524\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_yhjhta_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -11.864441871643066,\n                                        9.898183822631836,\n                                        0.046305060386657715\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.8660253882408142,\n                                        0.5\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_yhjhta_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.388357639312744,\n                                        14.274357795715332,\n                                        0.046305060386657715\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.8660253882408142,\n                                        0.5\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_yhjhta_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.401632308959961,\n                                        11.404739379882812,\n                                        0.046305060386657715\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.976296067237854,\n                                        0.21643954515457153\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_yhjhta_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.553346633911133,\n                                        10.410916328430176,\n                                        0.046305060386657715\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.8660253882408142,\n                                        0.5\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_yhjhta_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        10.099979400634766,\n                                        8.831195831298828,\n                                        0.046305060386657715\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.976296067237854,\n                                        0.21643954515457153\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_yhjhta_6\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        15.159998893737793,\n                                        15.536238670349121,\n                                        0.046305060386657715\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.976296067237854,\n                                        0.21643954515457153\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"car_xxsgpq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -12.420799255371094,\n                                        7.287886619567871,\n                                        0.7753021717071533\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -1.6402458818259857e-12\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    },\n                                    \"AttachedTo\": {\n                                        \"attached_obj_uuid\": -1\n                                    }\n                                }\n                            },\n                            \"charcoal_grill_crdaeu_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        15.853635787963867,\n                                        11.261885643005371,\n                                        0.778302013874054\n                                    ],\n                                    \"ori\": [\n                                        9.313225746154785e-10,\n                                        -1.686202955042404e-09,\n                                        0.9961947202682495,\n                                        0.08715594559907913\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -9.803002853914222e-11\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    },\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"countertop_tpuwys_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.866342067718506,\n                                        6.703090190887451,\n                                        1.345720648765564\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"dishwasher_ynrhuk_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.157533645629883,\n                                        1.0955928564071655,\n                                        0.4197513163089752\n                                    ],\n                                    \"ori\": [\n                                        -3.4924596548080444e-10,\n                                        2.3646862246096134e-11,\n                                        1.0,\n                                        1.94646418094635e-07\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    2.8478037483063345e-32,\n                                    0.0,\n                                    1.3806233489788156e-08\n                                ],\n                                \"joint_vel\": [\n                                    4.787695579825688e-30,\n                                    0.0,\n                                    4.565272313829249e-13\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    },\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"fridge_petcxr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.201407432556152,\n                                        -0.5687666535377502,\n                                        0.9560025334358215\n                                    ],\n                                    \"ori\": [\n                                        -2.1969897716189735e-05,\n                                        1.0645577503964887e-06,\n                                        0.70710289478302,\n                                        0.7071106433868408\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                                    3.239350454542489e-11,\n                                    4.2807445088666185e-11\n                                ],\n                                \"joint_vel\": [\n                                    2.6680087294588288e-15,\n                                    4.583070034591685e-13\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"microwave_hjjxmi_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.116196632385254,\n                                        -0.6967947483062744,\n                                        1.0086084604263306\n                                    ],\n                                    \"ori\": [\n                                        -9.546061718879173e-09,\n                                        1.3440147483834153e-07,\n                                        0.7071056365966797,\n                                        0.7071079015731812\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                                    -7.260664924816746e-25\n                                ],\n                                \"joint_vel\": [\n                                    3.806322498590136e-24\n                                ],\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    },\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"oven_ffitak_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.911428928375244,\n                                        -0.6495887041091919,\n                                        0.5409926772117615\n                                    ],\n                                    \"ori\": [\n                                        2.9802320611338473e-08,\n                                        -5.465698649231854e-08,\n                                        0.7071066498756409,\n                                        0.70710688829422\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -2.0869524370355913e-13,\n                                    0.0,\n                                    0.0\n                                ],\n                                \"joint_vel\": [\n                                    -2.564392925438752e-12,\n                                    -1.0258997886925749e-28,\n                                    -2.170523995290676e-19\n                                ],\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    },\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"toilet_udiezm_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.072304725646973,\n                                        -0.5223057270050049,\n                                        0.33443355560302734\n                                    ],\n                                    \"ori\": [\n                                        -7.275957614183426e-12,\n                                        0.0,\n                                        -4.5838532969355583e-10,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -3.603263791941008e-13\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"tree_dyymaq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -10.067146301269531,\n                                        13.15047836303711,\n                                        3.718750476837158\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_dyymaq_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        25.856597900390625,\n                                        8.246013641357422,\n                                        3.718750476837158\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_dyymaq_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        15.86120891571045,\n                                        0.7766780853271484,\n                                        3.718750476837158\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_flkzbo_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -15.045402526855469,\n                                        10.942527770996094,\n                                        3.7822470664978027\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_flkzbo_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.4779255390167236,\n                                        15.6276216506958,\n                                        3.7822470664978027\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_flkzbo_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -14.009891510009766,\n                                        15.8483304977417,\n                                        3.7822470664978027\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.7071068286895752,\n                                        0.7071067094802856\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_gmzozb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -7.848628520965576,\n                                        -3.8529858589172363,\n                                        4.96766996383667\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_gmzozb_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -10.211121559143066,\n                                        -3.8487184047698975,\n                                        4.96766996383667\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.17364798486232758,\n                                        0.9848077893257141\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_gmzozb_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -12.947092056274414,\n                                        -3.6955485343933105,\n                                        4.96766996383667\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.9659258127212524,\n                                        0.2588191032409668\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_gmzozb_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -15.340720176696777,\n                                        -3.8245351314544678,\n                                        4.96766996383667\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.42261821031570435,\n                                        0.9063078165054321\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_gmzozb_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.14012336730957,\n                                        -3.8487188816070557,\n                                        4.96766996383667\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.17364798486232758,\n                                        0.9848077893257141\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_rrhqpw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        25.26487922668457,\n                                        -3.1772687435150146,\n                                        3.8583271503448486\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_rrhqpw_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        12.35063362121582,\n                                        7.420542240142822,\n                                        3.8583271503448486\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.4617486596107483,\n                                        0.8870108127593994\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_rrhqpw_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        10.967728614807129,\n                                        12.327771186828613,\n                                        3.8583271503448486\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.6087615489959717,\n                                        0.793353259563446\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_rrhqpw_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        24.98072052001953,\n                                        -0.17172983288764954,\n                                        3.8583271503448486\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_rrhqpw_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        27.556486129760742,\n                                        4.171020030975342,\n                                        3.8583271503448486\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_rrhqpw_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        27.302703857421875,\n                                        15.761833190917969,\n                                        3.8583271503448486\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.46174880862236023,\n                                        0.8870107531547546\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_wtyipq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -15.631488800048828,\n                                        13.495407104492188,\n                                        2.2087221145629883\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.3826833665370941,\n                                        0.9238795638084412\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_wtyipq_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.842702627182007,\n                                        11.820091247558594,\n                                        2.2087221145629883\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_wtyipq_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        22.203453063964844,\n                                        -1.4958889484405518,\n                                        2.2087221145629883\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.3007056713104248,\n                                        0.9537169933319092\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_wtyipq_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.6164326667785645,\n                                        13.147072792053223,\n                                        2.2087221145629883\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.46174880862236023,\n                                        0.8870107531547546\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_wtyipq_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        26.92013168334961,\n                                        0.15607738494873047,\n                                        2.2087221145629883\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.4617486596107483,\n                                        0.8870108127593994\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_wtyipq_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        27.229629516601562,\n                                        11.73579216003418,\n                                        2.2087221145629883\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.6087615489959717,\n                                        0.793353259563446\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_wtyipq_6\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        17.196401596069336,\n                                        -3.2711355686187744,\n                                        2.2087221145629883\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.34202033281326294,\n                                        0.9396925568580627\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_wtyipq_7\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        21.32419204711914,\n                                        16.04673194885254,\n                                        2.2087221145629883\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.5735765099525452,\n                                        0.8191519975662231\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"tree_wtyipq_8\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        11.983068466186523,\n                                        9.985493659973145,\n                                        2.2087221145629883\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"wall_nail_wlnail_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.6627116203308105,\n                                        8.4920015335083,\n                                        1.027417540550232\n                                    ],\n                                    \"ori\": [\n                                        -0.5329477787017822,\n                                        -0.46316641569137573,\n                                        -0.4600025713443756,\n                                        0.5383691191673279\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                                    \"AttachedTo\": {\n                                        \"attached_obj_uuid\": -1\n                                    }\n                                }\n                            },\n                            \"wall_nail_wlnail_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.403650283813477,\n                                        2.873669385910034,\n                                        1.713331699371338\n                                    ],\n                                    \"ori\": [\n                                        0.7043592929840088,\n                                        -0.04934272542595863,\n                                        0.7059550881385803,\n                                        -0.055414069443941116\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                                    \"AttachedTo\": {\n                                        \"attached_obj_uuid\": -1\n                                    }\n                                }\n                            },\n                            \"wall_nail_wlnail_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.662712097167969,\n                                        2.463681221008301,\n                                        1.027417540550232\n                                    ],\n                                    \"ori\": [\n                                        0.46316608786582947,\n                                        -0.5329478979110718,\n                                        0.538369357585907,\n                                        0.46000245213508606\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                                    \"AttachedTo\": {\n                                        \"attached_obj_uuid\": -1\n                                    }\n                                }\n                            },\n                            \"wood_fireplace_gpnsij_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.004481315612793,\n                                        6.702439308166504,\n                                        0.6518230438232422\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        5.52335052361741e-07\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bar_byvbuc_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.747982501983643,\n                                        -0.7065714597702026,\n                                        0.4014427959918976\n                                    ],\n                                    \"ori\": [\n                                        1.6717941662136582e-06,\n                                        -6.884300205456384e-07,\n                                        0.7071069478988647,\n                                        0.7071065902709961\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"burner_mdanhg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.905571937561035,\n                                        -0.674903929233551,\n                                        0.8940384387969971\n                                    ],\n                                    \"ori\": [\n                                        4.3655745685100555e-11,\n                                        -5.476502498019675e-12,\n                                        0.7071069478988647,\n                                        0.7071065902709961\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"shelf_vanltx_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.098334550857544,\n                                        7.467351913452148,\n                                        1.1991246938705444\n                                    ],\n                                    \"ori\": [\n                                        -0.7071066498756409,\n                                        0.70710688829422,\n                                        -1.7167818668895052e-06,\n                                        -3.340840066812234e-06\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"breakfast_table_xftrki_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.2911458015441895,\n                                        1.4381656646728516,\n                                        0.6256136298179626\n                                    ],\n                                    \"ori\": [\n                                        4.05905484512914e-06,\n                                        2.2614880435867235e-05,\n                                        -1.1072244632259753e-07,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        -1.8443532098899595e-05,\n                                        -8.26810810394818e-06,\n                                        -1.3389610103331506e-05\n                                    ],\n                                    \"ang_vel\": [\n                                        3.0403902201214805e-05,\n                                        -5.8222060033585876e-05,\n                                        -2.1247808490443276e-06\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"coffee_table_koagbh_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.519821882247925,\n                                        5.290386199951172,\n                                        0.36463403701782227\n                                    ],\n                                    \"ori\": [\n                                        2.1161022800697538e-07,\n                                        1.8343493138672784e-05,\n                                        -5.908490265937871e-07,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        -9.781304106581956e-05,\n                                        -6.860162102384493e-05,\n                                        -5.443494615064992e-07\n                                    ],\n                                    \"ang_vel\": [\n                                        -2.2064898075768724e-05,\n                                        -4.7957906645024195e-05,\n                                        -2.8969775485165883e-06\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"garden_chair_cottya_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        17.188352584838867,\n                                        9.653680801391602,\n                                        0.4575159549713135\n                                    ],\n                                    \"ori\": [\n                                        -0.0010528414277359843,\n                                        -2.7658984436129685e-07,\n                                        0.9111853241920471,\n                                        0.41199541091918945\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                            \"garden_chair_cottya_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        17.796110153198242,\n                                        11.159156799316406,\n                                        0.45754119753837585\n                                    ],\n                                    \"ori\": [\n                                        -0.0008404850377701223,\n                                        -0.00038315498386509717,\n                                        0.9994975328445435,\n                                        0.03168351948261261\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                            \"garden_chair_cottya_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        17.39127540588379,\n                                        12.77530574798584,\n                                        0.4573386311531067\n                                    ],\n                                    \"ori\": [\n                                        -0.000997588038444519,\n                                        -0.0005969553021714091,\n                                        0.9486072063446045,\n                                        -0.31645387411117554\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                            \"garden_chair_lraplz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        14.069025993347168,\n                                        11.16181468963623,\n                                        0.4360051453113556\n                                    ],\n                                    \"ori\": [\n                                        0.0013555840123444796,\n                                        -0.0005714431754313409,\n                                        0.010651513934135437,\n                                        0.9999422430992126\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                            \"standing_mirror_wwkuuf_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.9785433411598206,\n                                        2.2687032222747803,\n                                        0.7087390422821045\n                                    ],\n                                    \"ori\": [\n                                        0.03872620314359665,\n                                        -0.058691684156656265,\n                                        0.12976276874542236,\n                                        0.9890486598014832\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"straight_chair_hgunnf_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.887570858001709,\n                                        1.792851209640503,\n                                        0.47285696864128113\n                                    ],\n                                    \"ori\": [\n                                        0.0022465887013822794,\n                                        -0.00020710007811430842,\n                                        0.9999974370002747,\n                                        2.1660702259396203e-05\n                                    ],\n                                    \"lin_vel\": [\n                                        -0.00016176330973394215,\n                                        0.000169169987202622,\n                                        -4.6334876969922334e-05\n                                    ],\n                                    \"ang_vel\": [\n                                        -0.0003379904665052891,\n                                        -0.0003084456257056445,\n                                        0.0001582451513968408\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"straight_chair_uofiqj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.4944512844085693,\n                                        1.0171157121658325,\n                                        0.4733438193798065\n                                    ],\n                                    \"ori\": [\n                                        -1.4901162970204496e-08,\n                                        6.752087955419483e-08,\n                                        0.25882071256637573,\n                                        0.965925395488739\n                                    ],\n                                    \"lin_vel\": [\n                                        -3.6850469768978655e-05,\n                                        -1.88619287655456e-05,\n                                        -1.638353069211007e-06\n                                    ],\n                                    \"ang_vel\": [\n                                        6.794484215788543e-05,\n                                        9.39445017138496e-05,\n                                        -2.487341953383293e-05\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"straight_chair_uofiqj_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.685436725616455,\n                                        1.7886775732040405,\n                                        0.4733438789844513\n                                    ],\n                                    \"ori\": [\n                                        -3.725290298461914e-08,\n                                        5.532637459282341e-08,\n                                        2.8614883262889634e-07,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        -1.7653957911534235e-05,\n                                        -8.661059837322682e-06,\n                                        -1.9857732695527375e-05\n                                    ],\n                                    \"ang_vel\": [\n                                        -1.0610156095935963e-05,\n                                        -5.8617020840756595e-05,\n                                        1.8019807612290606e-05\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"straight_chair_zdhnyg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.889126777648926,\n                                        1.1079013347625732,\n                                        0.47330060601234436\n                                    ],\n                                    \"ori\": [\n                                        0.003121107816696167,\n                                        -0.0037847424391657114,\n                                        0.9999880194664001,\n                                        2.5046991140698083e-05\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0002075513475574553,\n                                        9.602728096069768e-05,\n                                        -2.023272645601537e-05\n                                    ],\n                                    \"ang_vel\": [\n                                        9.258360660169274e-05,\n                                        0.000250362470978871,\n                                        0.00023462959507014602\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"bar_egwapq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.151969909667969,\n                                        0.15750814974308014,\n                                        0.4490511119365692\n                                    ],\n                                    \"ori\": [\n                                        1.3114304072894952e-15,\n                                        4.177641343972027e-09,\n                                        1.0,\n                                        3.1391647326017846e-07\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"bottom_cabinet_rhdbzv_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.260105133056641,\n                                        4.522088527679443,\n                                        0.21441000699996948\n                                    ],\n                                    \"ori\": [\n                                        -9.960494935512543e-07,\n                                        7.512605861847987e-07,\n                                        1.0,\n                                        -1.9470462575554848e-07\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    1.1849066866576052e-11,\n                                    1.1674738432942977e-11\n                                ],\n                                \"joint_vel\": [\n                                    -1.5609622717694687e-27,\n                                    5.0645948635957815e-26\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"car_ssxsje_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.43150520324707,\n                                        6.887782573699951,\n                                        0.6677820682525635\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    1.1961155677031599e-10\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    },\n                                    \"AttachedTo\": {\n                                        \"attached_obj_uuid\": -1\n                                    }\n                                }\n                            },\n                            \"ceilings_alydei_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.9036145210266113,\n                                        1.5060296058654785,\n                                        2.546888589859009\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_aoekre_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.520022869110107,\n                                        5.557386875152588,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_feolie_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.2406875193119049,\n                                        3.329909324645996,\n                                        2.546888589859009\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_isizwh_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.255151748657227,\n                                        5.478974342346191,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_kbxtoc_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.136273384094238,\n                                        1.377645492553711,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_sbkyof_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.718851089477539,\n                                        5.511994361877441,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_vkfllw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.954075336456299,\n                                        -0.1620907038450241,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"decorative_sign_hgonwj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.910258173942566,\n                                        7.547131061553955,\n                                        1.4864343404769897\n                                    ],\n                                    \"ori\": [\n                                        -0.5,\n                                        0.5,\n                                        0.5000000596046448,\n                                        -0.4999999403953552\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"decorative_sign_rypeha_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.3227729797363281,\n                                        0.21013908088207245,\n                                        1.535016655921936\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"decorative_sign_xzsmxq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.3330638408660889,\n                                        3.47764253616333,\n                                        1.714901328086853\n                                    ],\n                                    \"ori\": [\n                                        7.130104222596856e-07,\n                                        0.0020132323261350393,\n                                        -2.5964516225940315e-06,\n                                        0.9999979734420776\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"door_bexenl_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.886465072631836,\n                                        2.3801634311676025,\n                                        1.1881227493286133\n                                    ],\n                                    \"ori\": [\n                                        -6.518303621305677e-07,\n                                        -3.084875061176717e-05,\n                                        -0.7104465365409851,\n                                        0.7037512063980103\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -1.0186665137093063e-18\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_bexenl_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.0018343925476074,\n                                        0.7760968208312988,\n                                        1.1881228685379028\n                                    ],\n                                    \"ori\": [\n                                        3.083581032115035e-05,\n                                        -6.060622581571806e-07,\n                                        0.7042463421821594,\n                                        0.7099557518959045\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                                    3.789185795916115e-15\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_vudhlc_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.11536934971809387,\n                                        7.761946678161621,\n                                        1.1729766130447388\n                                    ],\n                                    \"ori\": [\n                                        -2.0066216166014783e-05,\n                                        -0.0004578114894684404,\n                                        -0.7034237384796143,\n                                        0.7107706665992737\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    1.5931364316656982e-07\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_vudhlc_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.11318013072013855,\n                                        -1.1897296905517578,\n                                        1.1729762554168701\n                                    ],\n                                    \"ori\": [\n                                        0.00045759606291539967,\n                                        -1.9944976884289645e-05,\n                                        0.710751473903656,\n                                        0.7034431099891663\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    1.5919859208679554e-07\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_vudhlc_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.709315776824951,\n                                        3.4284281730651855,\n                                        1.173406958580017\n                                    ],\n                                    \"ori\": [\n                                        0.00045784248504787683,\n                                        -2.0075971406186e-05,\n                                        0.7107710242271423,\n                                        0.7034233212471008\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    1.462661547435573e-09\n                                ],\n                                \"joint_vel\": [\n                                    -5.706523984903497e-14\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_vudhlc_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.699669361114502,\n                                        7.66694450378418,\n                                        1.1734071969985962\n                                    ],\n                                    \"ori\": [\n                                        0.00045782755478285253,\n                                        -2.0083334675291553e-05,\n                                        0.7107709646224976,\n                                        0.7034233808517456\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    1.4631708067369686e-09\n                                ],\n                                \"joint_vel\": [\n                                    7.161600739519214e-12\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.651690661907196,\n                                        6.911736011505127,\n                                        2.1672098636627197\n                                    ],\n                                    \"ori\": [\n                                        1.4272956150307436e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326361894607544\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.6516902446746826,\n                                        2.7649075984954834,\n                                        2.1672098636627197\n                                    ],\n                                    \"ori\": [\n                                        1.4272956150307436e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326361894607544\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_10\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.7691171169281006,\n                                        7.305008888244629,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        8.102612980565027e-08,\n                                        3.282541527482863e-08,\n                                        0.3754790425300598,\n                                        0.9268308877944946\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_11\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.9526619911193848,\n                                        7.304922580718994,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        8.183096156244574e-08,\n                                        3.076413435110226e-08,\n                                        0.35190078616142273,\n                                        0.9360373020172119\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_12\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.5523812770843506,\n                                        6.563607215881348,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        2.9900355968948134e-08,\n                                        8.215054947413591e-08,\n                                        0.9396926164627075,\n                                        0.342020183801651\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_13\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.5522295236587524,\n                                        5.746274948120117,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        3.408305815355561e-08,\n                                        8.050520250435511e-08,\n                                        0.920872151851654,\n                                        0.3898646831512451\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_14\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.5523133277893066,\n                                        4.929818153381348,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        3.610970011891368e-08,\n                                        7.961676828927011e-08,\n                                        0.910709798336029,\n                                        0.41304683685302734\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_15\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.119497776031494,\n                                        3.7024524211883545,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        8.609458745922893e-08,\n                                        -1.5180788182078686e-08,\n                                        -0.17364798486232758,\n                                        0.9848077893257141\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_16\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.119524002075195,\n                                        4.519840717315674,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        7.894188058799045e-08,\n                                        -3.756215605221769e-08,\n                                        -0.4296610951423645,\n                                        0.9029902219772339\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_17\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.119430065155029,\n                                        5.336262226104736,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        7.961677539469747e-08,\n                                        -3.610969301348632e-08,\n                                        -0.4130469262599945,\n                                        0.9107097387313843\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.651690661907196,\n                                        5.894435405731201,\n                                        2.1672098636627197\n                                    ],\n                                    \"ori\": [\n                                        1.4272956150307436e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326361894607544\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.651690661907196,\n                                        4.915513515472412,\n                                        2.1672098636627197\n                                    ],\n                                    \"ori\": [\n                                        1.4272956150307436e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326361894607544\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.9079089760780334,\n                                        0.37542954087257385,\n                                        2.165252923965454\n                                    ],\n                                    \"ori\": [\n                                        1.4272956150307436e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326361894607544\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.9079068899154663,\n                                        -0.6004335880279541,\n                                        2.165252923965454\n                                    ],\n                                    \"ori\": [\n                                        1.4272956150307436e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326361894607544\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_6\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.012056827545166,\n                                        1.5348767042160034,\n                                        2.337745189666748\n                                    ],\n                                    \"ori\": [\n                                        1.4272956150307436e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326361894607544\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_7\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.6700336933135986,\n                                        1.5348725318908691,\n                                        2.337745189666748\n                                    ],\n                                    \"ori\": [\n                                        1.4272956150307436e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326361894607544\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_8\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.6516903638839722,\n                                        3.740774631500244,\n                                        2.1672098636627197\n                                    ],\n                                    \"ori\": [\n                                        1.4272956150307436e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326361894607544\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_9\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.586454153060913,\n                                        7.3048858642578125,\n                                        2.340092658996582\n                                    ],\n                                    \"ori\": [\n                                        7.754493935863138e-08,\n                                        4.0367343245861775e-08,\n                                        0.46174880862236023,\n                                        0.8870107531547546\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pxrmnt_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.254535436630249,\n                                        0.05484727770090103,\n                                        2.244318723678589\n                                    ],\n                                    \"ori\": [\n                                        -0.2705981731414795,\n                                        0.2705982029438019,\n                                        0.6532815098762512,\n                                        0.6532813310623169\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pxrmnt_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.9484200477600098,\n                                        0.05484727770090103,\n                                        2.244318723678589\n                                    ],\n                                    \"ori\": [\n                                        -0.2705981731414795,\n                                        0.2705982029438019,\n                                        0.6532815098762512,\n                                        0.6532813310623169\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pxrmnt_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.642568588256836,\n                                        0.054846182465553284,\n                                        2.244318723678589\n                                    ],\n                                    \"ori\": [\n                                        -0.2705981731414795,\n                                        0.2705982029438019,\n                                        0.6532815098762512,\n                                        0.6532813310623169\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"driveway_umalys_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -12.69985294342041,\n                                        5.707181453704834,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"drop_in_sink_hecjnt_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.4872028827667236,\n                                        -0.7013636231422424,\n                                        0.8735276460647583\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.7071059942245483,\n                                        0.7071075439453125\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    },\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"drop_in_sink_lkklqs_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.109147071838379,\n                                        0.23475468158721924,\n                                        0.8585090637207031\n                                    ],\n                                    \"ori\": [\n                                        1.3114304072894952e-15,\n                                        4.177641343972027e-09,\n                                        1.0,\n                                        3.1391647326017846e-07\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    },\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"electric_switch_strbnw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.4436075687408447,\n                                        3.9397165775299072,\n                                        1.1495720148086548\n                                    ],\n                                    \"ori\": [\n                                        0.0012304183328524232,\n                                        -0.03238895535469055,\n                                        -0.010893194936215878,\n                                        0.9994152188301086\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"electric_switch_strbnw_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.7511515021324158,\n                                        7.569955348968506,\n                                        1.1495720148086548\n                                    ],\n                                    \"ori\": [\n                                        -0.022033199667930603,\n                                        -0.02377314306795597,\n                                        -0.7143961191177368,\n                                        0.6989904046058655\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"electric_switch_strbnw_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.6418156027793884,\n                                        7.569954872131348,\n                                        1.1495720148086548\n                                    ],\n                                    \"ori\": [\n                                        -0.022033199667930603,\n                                        -0.02377314306795597,\n                                        -0.7143961191177368,\n                                        0.6989904046058655\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"electric_switch_strbnw_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.4436075687408447,\n                                        4.028299331665039,\n                                        1.1495718955993652\n                                    ],\n                                    \"ori\": [\n                                        0.0012304183328524232,\n                                        -0.03238895535469055,\n                                        -0.010893194936215878,\n                                        0.9994152188301086\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"fixed_window_kvdqep_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.908116102218628,\n                                        -1.0693415403366089,\n                                        1.2367674112319946\n                                    ],\n                                    \"ori\": [\n                                        1.3410273425051855e-07,\n                                        -1.3410284793735627e-07,\n                                        -0.7071072459220886,\n                                        0.7071062922477722\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"fixed_window_lhzwtz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.54767894744873,\n                                        1.8719654083251953,\n                                        1.0577043294906616\n                                    ],\n                                    \"ori\": [\n                                        4.371139183945161e-08,\n                                        -4.371138473402425e-08,\n                                        1.0,\n                                        -7.549789415861596e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_ghetev_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        15.194725036621094,\n                                        9.549063682556152,\n                                        -0.08061301708221436\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_irvmpb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.173818111419678,\n                                        1.31890070438385,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_iwsyoz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -7.896538257598877,\n                                        -3.7630395889282227,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_nbxnpk_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.369476318359375,\n                                        5.505799293518066,\n                                        -0.15000003576278687\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_ogynye_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.010512351989746,\n                                        6.217711925506592,\n                                        -0.1494276523590088\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_qadhjb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -8.231354713439941,\n                                        -1.8533318042755127,\n                                        -0.15000005066394806\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_sdejoi_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.0175507068634033,\n                                        1.5060408115386963,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_slmyas_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.015613555908203,\n                                        9.062435150146484,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_ulujpr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.866909980773926,\n                                        5.666343688964844,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_xkkysf_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.0167768001556396,\n                                        -0.23164819180965424,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_xorxro_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.2026587724685669,\n                                        3.3603272438049316,\n                                        -0.15000005066394806\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"floors_zqjkvm_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.8314337730407715,\n                                        1.1399084329605103,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"garage_door_prdjyt_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -7.895504951477051,\n                                        5.455986022949219,\n                                        2.098114013671875\n                                    ],\n                                    \"ori\": [\n                                        -2.9103826987286752e-11,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -1.644844959021452e-12,\n                                    -1.7962357946529894e-12\n                                ],\n                                \"joint_vel\": [\n                                    0.0,\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"garden_light_qyfrwj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        13.082374572753906,\n                                        10.527153968811035,\n                                        0.4406197667121887\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"garden_light_qyfrwj_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        17.41649627685547,\n                                        13.705216407775879,\n                                        0.4406197667121887\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"garden_light_qyfrwj_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        14.119112968444824,\n                                        13.437567710876465,\n                                        0.4406197667121887\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"garden_light_qyfrwj_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        16.393651962280273,\n                                        8.33052921295166,\n                                        0.543748676776886\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"garden_light_qyfrwj_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        18.723386764526367,\n                                        10.621943473815918,\n                                        0.4406197667121887\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"garden_light_qyfrwj_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        10.549521446228027,\n                                        7.668270587921143,\n                                        0.5439923405647278\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"garden_light_qyfrwj_6\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -15.0800199508667,\n                                        2.1115520000457764,\n                                        0.5089493989944458\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"garden_light_qyfrwj_7\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        10.549521446228027,\n                                        7.668270587921143,\n                                        0.5439923405647278\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"garden_light_qyfrwj_8\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        10.549521446228027,\n                                        -1.1384243965148926,\n                                        0.5439923405647278\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"hall_tree_daxzaw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.1914749145507812,\n                                        -0.2079654037952423,\n                                        0.9663193225860596\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"hall_tree_upkvgr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.0774564743041992,\n                                        5.3776960372924805,\n                                        1.1423906087875366\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"hook_akwlam_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.4231228828430176,\n                                        0.6632356643676758,\n                                        1.0937546491622925\n                                    ],\n                                    \"ori\": [\n                                        0.4999999403953552,\n                                        0.5,\n                                        -0.4999999403953552,\n                                        0.5000001192092896\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"lawn_aztwla_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        11.144706726074219,\n                                        7.921620845794678,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"lawn_srfikq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -14.415989875793457,\n                                        1.0884172916412354,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"lawn_tiqndr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -7.1791205406188965,\n                                        0.20979198813438416,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"lawn_zjtrpt_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.791261672973633,\n                                        -2.7255196571350098,\n                                        -0.15000006556510925\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"mirror_edxfnt_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.48703932762146,\n                                        -0.9680357575416565,\n                                        1.4609739780426025\n                                    ],\n                                    \"ori\": [\n                                        -5.268318670204053e-09,\n                                        -6.84886529711548e-08,\n                                        0.7071077823638916,\n                                        0.7071057558059692\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"motion_sensor_aecflf_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.0119998455047607,\n                                        0.6473510265350342,\n                                        1.120005488395691\n                                    ],\n                                    \"ori\": [\n                                        0.7070801854133606,\n                                        -0.006170725449919701,\n                                        0.006170394830405712,\n                                        0.7070795297622681\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"paver_eskaca_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -13.689250946044922,\n                                        1.2405089139938354,\n                                        0.04245743155479431\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"paver_lmdfdn_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -7.249168872833252,\n                                        0.2803964912891388,\n                                        0.022317148745059967\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"paver_sekqqq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.10262751579284668,\n                                        2.182325839996338,\n                                        -0.016032814979553223\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"picture_ekagyj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.2276611328125,\n                                        5.6449127197265625,\n                                        1.5179249048233032\n                                    ],\n                                    \"ori\": [\n                                        -0.00021770590683445334,\n                                        0.706889271736145,\n                                        -0.00021770602324977517,\n                                        0.707324206829071\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_ggajdz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.906806230545044,\n                                        7.557434558868408,\n                                        1.0779438018798828\n                                    ],\n                                    \"ori\": [\n                                        -0.5,\n                                        0.5,\n                                        0.5,\n                                        0.5\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_hffaxw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.6240010261535645,\n                                        0.6331614255905151,\n                                        1.6850851774215698\n                                    ],\n                                    \"ori\": [\n                                        0.4990296959877014,\n                                        0.4990028738975525,\n                                        -0.5009949803352356,\n                                        0.5009686350822449\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_jnecmu_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.9959433674812317,\n                                        4.3721418380737305,\n                                        1.5021156072616577\n                                    ],\n                                    \"ori\": [\n                                        -0.7068889141082764,\n                                        0.000269129901425913,\n                                        0.7073245644569397,\n                                        -0.00016625226999167353\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_qlkknu_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.9959485530853271,\n                                        6.643787384033203,\n                                        1.3490948677062988\n                                    ],\n                                    \"ori\": [\n                                        -0.7068889141082764,\n                                        0.0002689510874915868,\n                                        0.7073245644569397,\n                                        -0.00016641619731672108\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_qlsyco_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.1342577934265137,\n                                        7.55281400680542,\n                                        1.092362403869629\n                                    ],\n                                    \"ori\": [\n                                        -0.5000000596046448,\n                                        0.4999999403953552,\n                                        0.4999999403953552,\n                                        0.5000000596046448\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_tveyoh_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.9959511160850525,\n                                        5.612113952636719,\n                                        1.4460172653198242\n                                    ],\n                                    \"ori\": [\n                                        -0.7068891525268555,\n                                        0.00028620651573874056,\n                                        0.7073243260383606,\n                                        -0.0001488030538894236\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"picture_yzbpie_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.995965301990509,\n                                        5.087554931640625,\n                                        1.1189029216766357\n                                    ],\n                                    \"ori\": [\n                                        -0.7068889737129211,\n                                        0.00028601280064322054,\n                                        0.7073245048522949,\n                                        -0.00014919044042471796\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"playground_xdlcdi_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        23.416954040527344,\n                                        13.086623191833496,\n                                        2.053555488586426\n                                    ],\n                                    \"ori\": [\n                                        -9.533422371532652e-07,\n                                        7.544517899304992e-09,\n                                        -0.007910998538136482,\n                                        0.9999687075614929\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"rail_fence_owbrvb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        17.939146041870117,\n                                        17.680978775024414,\n                                        0.6696560382843018\n                                    ],\n                                    \"ori\": [\n                                        0.0011985187884420156,\n                                        0.0012313827173784375,\n                                        -0.706998348236084,\n                                        0.7072131037712097\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"rail_fence_owbrvb_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        29.422842025756836,\n                                        6.0019850730896,\n                                        0.6695229411125183\n                                    ],\n                                    \"ori\": [\n                                        -0.0017182630253955722,\n                                        -2.2979389541433193e-05,\n                                        0.9999985098838806,\n                                        -0.00014101977285463363\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"rail_fence_owbrvb_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        18.045509338378906,\n                                        -5.468871116638184,\n                                        0.6697246432304382\n                                    ],\n                                    \"ori\": [\n                                        -0.0012313572224229574,\n                                        0.0011984965531155467,\n                                        0.7072129249572754,\n                                        0.7069985270500183\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"rail_fence_owbrvb_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.005260944366455,\n                                        -5.468219757080078,\n                                        0.6693981885910034\n                                    ],\n                                    \"ori\": [\n                                        -0.0012313572224229574,\n                                        0.0011984965531155467,\n                                        0.7072129249572754,\n                                        0.7069985270500183\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"rail_fence_owbrvb_4\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.111202716827393,\n                                        17.680986404418945,\n                                        0.6696600317955017\n                                    ],\n                                    \"ori\": [\n                                        0.0011985187884420156,\n                                        0.0012313827173784375,\n                                        -0.706998348236084,\n                                        0.7072131037712097\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"rail_fence_owbrvb_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -16.53952407836914,\n                                        6.223880290985107,\n                                        0.6695227026939392\n                                    ],\n                                    \"ori\": [\n                                        -2.3009368305793032e-05,\n                                        0.001720378641039133,\n                                        0.00014141338760964572,\n                                        0.9999985098838806\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"range_hood_xvdfpp_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.9097795486450195,\n                                        -0.9177923798561096,\n                                        1.821560263633728\n                                    ],\n                                    \"ori\": [\n                                        1.2178898167736207e-10,\n                                        1.2178895392178646e-10,\n                                        0.7071068286895752,\n                                        0.7071067094802856\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"roof_pgwmer_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.076505422592163,\n                                        2.6357133388519287,\n                                        5.219618320465088\n                                    ],\n                                    \"ori\": [\n                                        -6.30734409146072e-10,\n                                        6.307349087464331e-10,\n                                        0.7071066498756409,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"room_light_eqbjaz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.276165008544922,\n                                        5.5935587882995605,\n                                        1.7559911012649536\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"room_light_kiuayi_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.220686912536621,\n                                        1.1139496564865112,\n                                        2.0094308853149414\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"sofa_frlxgz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.9035032987594604,\n                                        6.052554130554199,\n                                        0.276924192905426\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"stairs_tikozn_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.0531527996063232,\n                                        0.6303675770759583,\n                                        1.8382233381271362\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"swing_set_yzhrgz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.9367271661758423,\n                                        13.04601001739502,\n                                        1.285752534866333\n                                    ],\n                                    \"ori\": [\n                                        -4.231687489664182e-05,\n                                        6.913520337548107e-06,\n                                        0.7071068286895752,\n                                        0.7071067094802856\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"top_cabinet_tynnnw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.30424976348877,\n                                        -0.3730410933494568,\n                                        1.8874198198318481\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        4.49618077144609e-12,\n                                        1.0,\n                                        1.1483833759484696e-06\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -4.261819500600029e-21,\n                                    2.3400256884097137e-13\n                                ],\n                                \"joint_vel\": [\n                                    -3.8334855076983247e-20,\n                                    6.952472900842899e-18\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"top_cabinet_tynnnw_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.304250717163086,\n                                        0.8304481506347656,\n                                        1.8874198198318481\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        4.496402816051015e-12,\n                                        1.0,\n                                        1.3868019550500321e-06\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -4.8155930907940564e-21,\n                                    2.342917797704819e-13\n                                ],\n                                \"joint_vel\": [\n                                    -3.7911338603356097e-20,\n                                    6.952472900842899e-18\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"track_light_ltnnrc_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.304345607757568,\n                                        2.0552871227264404,\n                                        2.293074131011963\n                                    ],\n                                    \"ori\": [\n                                        3.647477342383354e-08,\n                                        -3.64747627656925e-08,\n                                        -0.7071066498756409,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"track_light_ltnnrc_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.30434513092041,\n                                        0.6291348934173584,\n                                        2.293074131011963\n                                    ],\n                                    \"ori\": [\n                                        3.647477342383354e-08,\n                                        -3.64747627656925e-08,\n                                        -0.7071066498756409,\n                                        0.70710688829422\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"wall_mounted_light_mbhxbg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.4928293228149414,\n                                        -0.9520183205604553,\n                                        1.8020007610321045\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.7071068286895752,\n                                        0.7071067094802856\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"wall_mounted_tv_dxyfxf_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.38406229019165,\n                                        4.4892754554748535,\n                                        1.3020511865615845\n                                    ],\n                                    \"ori\": [\n                                        4.371138118131057e-08,\n                                        -4.3711395392165286e-08,\n                                        1.0,\n                                        1.9470718370939721e-07\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"wall_socket_nujxel_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.0073962211608887,\n                                        7.370497226715088,\n                                        0.17663566768169403\n                                    ],\n                                    \"ori\": [\n                                        -1.685874053691805e-07,\n                                        -0.7071068286895752,\n                                        -1.6858737694747106e-07,\n                                        0.7071067094802856\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_abtbfo_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.899403989315033,\n                                        0.5445684790611267,\n                                        1.3484432697296143\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_bjekee_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.238336563110352,\n                                        6.7025065422058105,\n                                        1.41874361038208\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_buhmrc_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.31728968024253845,\n                                        8.28236198425293,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_chmqjn_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.0086231231689453,\n                                        0.7558910250663757,\n                                        2.373765468597412\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_cvdpaq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -7.114837169647217,\n                                        2.330291509628296,\n                                        1.293397307395935\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_cxsmhr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.9714878797531128,\n                                        -1.1004434823989868,\n                                        1.3484432697296143\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_dewyls_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.901817798614502,\n                                        -1.100443720817566,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_dlfarz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.52174186706543,\n                                        5.563309192657471,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_epketb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.887902021408081,\n                                        2.3541018962860107,\n                                        2.373765468597412\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_fwsbwf_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.5145368576049805,\n                                        0.5360475182533264,\n                                        1.2873893976211548\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_gishpf_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.538812637329102,\n                                        5.666343688964844,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_hcbqvq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.3751676082611084,\n                                        -2.0040204524993896,\n                                        1.2828558683395386\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_jemunw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.623449802398682,\n                                        -1.103598713874817,\n                                        1.3484432697296143\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_jglkyp_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -9.126346588134766,\n                                        5.480226993560791,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_jnbgxj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.605769157409668,\n                                        7.693531036376953,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_jzwmhx_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.538814544677734,\n                                        2.9117226600646973,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_lblwvg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.2257602214813232,\n                                        3.982853651046753,\n                                        1.3484433889389038\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_lovfhw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.390817642211914,\n                                        -2.004019260406494,\n                                        1.28285551071167\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_mgumxz_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.538814544677734,\n                                        1.8723160028457642,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_mgvxov_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.46843433380127,\n                                        -2.004021167755127,\n                                        1.28285551071167\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_miltge_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.082330226898193,\n                                        8.654457092285156,\n                                        1.3028624057769775\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_mkgplc_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.594769477844238,\n                                        7.698404312133789,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_mwlvfb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.2233578860759735,\n                                        7.6935319900512695,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_oiagxk_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.4820524454116821,\n                                        8.164472579956055,\n                                        1.3484430313110352\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_oqrbxo_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.4573912620544434,\n                                        4.8287200927734375,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_owxeej_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.46563720703125,\n                                        -0.06503704935312271,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_paarsl_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -9.12635612487793,\n                                        4.021864891052246,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_pmygxs_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.0308233499526978,\n                                        7.68658447265625,\n                                        1.3484432697296143\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_qeofms_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.398054838180542,\n                                        0.7558919787406921,\n                                        1.3484430313110352\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_rrabdp_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.976871490478516,\n                                        7.701404571533203,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_uiloru_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.008785522542893887,\n                                        -1.1004430055618286,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_umqqmh_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.6524200439453125,\n                                        3.409116506576538,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_upttgq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        8.543468475341797,\n                                        0.1486157327890396,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_vxveul_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.1102089881896973,\n                                        5.834742546081543,\n                                        1.3484430313110352\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_weybsr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.496758460998535,\n                                        2.3396568298339844,\n                                        1.3484432697296143\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_xsubff_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.620049953460693,\n                                        3.419678211212158,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_xyrbgy_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.6603317260742188,\n                                        -1.1554911136627197,\n                                        1.2870962619781494\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_ylpkth_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.4094693660736084,\n                                        7.693531036376953,\n                                        1.3484431505203247\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_zdhaff_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -9.126336097717285,\n                                        6.9386186599731445,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"washer_ziomqg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.9653077125549316,\n                                        0.3324632942676544,\n                                        0.5006033778190613\n                                    ],\n                                    \"ori\": [\n                                        -0.0005396500346250832,\n                                        -0.0008071316406130791,\n                                        0.001729516196064651,\n                                        0.9999980330467224\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -4.858955284677847e-18\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    },\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"can_of_soda_113\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.243434906005859,\n                                        6.99073600769043,\n                                        0.06461404263973236\n                                    ],\n                                    \"ori\": [\n                                        -0.0003708659205585718,\n                                        0.00017513676721137017,\n                                        0.5866429209709167,\n                                        0.8098456263542175\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0002733730070758611,\n                                        0.00012652802979573607,\n                                        -1.1499275387905072e-05\n                                    ],\n                                    \"ang_vel\": [\n                                        -0.0026498103979974985,\n                                        0.0038212863728404045,\n                                        0.0005127850454300642\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"can_of_soda_114\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.673210144042969,\n                                        7.169313907623291,\n                                        0.07145719230175018\n                                    ],\n                                    \"ori\": [\n                                        8.868192526279017e-05,\n                                        -0.00017777978791855276,\n                                        0.9931164979934692,\n                                        0.11713089048862457\n                                    ],\n                                    \"lin_vel\": [\n                                        -0.0004864000075031072,\n                                        0.000641512917354703,\n                                        -1.6261185010080226e-05\n                                    ],\n                                    \"ang_vel\": [\n                                        -0.004002026282250881,\n                                        -0.0022223663982003927,\n                                        -0.00398449320346117\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"can_of_soda_115\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.126430034637451,\n                                        3.9581027030944824,\n                                        0.07145725935697556\n                                    ],\n                                    \"ori\": [\n                                        -9.892845991998911e-05,\n                                        -0.00015346887812484056,\n                                        0.44073039293289185,\n                                        0.8976395726203918\n                                    ],\n                                    \"lin_vel\": [\n                                        -0.0007986109703779221,\n                                        -0.00013988791033625603,\n                                        -5.49539145140443e-05\n                                    ],\n                                    \"ang_vel\": [\n                                        0.003500301158055663,\n                                        -0.011594447307288647,\n                                        -0.00022539710334967822\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"trash_can_116\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.5081706047058105,\n                                        1.2269515991210938,\n                                        0.1348358690738678\n                                    ],\n                                    \"ori\": [\n                                        -4.852190045312454e-07,\n                                        -1.0196089306191425e-06,\n                                        0.9324679374694824,\n                                        0.3612527847290039\n                                    ],\n                                    \"lin_vel\": [\n                                        6.316284270724282e-06,\n                                        -4.001267734565772e-05,\n                                        -2.485020104359137e-06\n                                    ],\n                                    \"ang_vel\": [\n                                        0.00014558021211996675,\n                                        4.472250657272525e-05,\n                                        -0.00010623074194882065\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"robot_r1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.1107177734375,\n                                        1.5191650390625,\n                                        0.003753662109375\n                                    ],\n                                    \"ori\": [\n                                        0.004324103239923716,\n                                        -0.0026167966425418854,\n                                        -0.335495263338089,\n                                        0.9420283436775208\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    4.190584604657488e-06,\n                                    6.37436896795407e-05,\n                                    0.001899486524052918,\n                                    -0.00784557405859232,\n                                    0.001063805422745645,\n                                    3.653142266557552e-05,\n                                    1.0249817371368408,\n                                    -1.450037956237793,\n                                    -0.4700127840042114,\n                                    9.357087265016162e-07,\n                                    2.383327591815032e-05,\n                                    1.7078558812499978e-05,\n                                    -5.764124466622889e-07,\n                                    -1.0605502893668017e-06,\n                                    -1.324556978943292e-05,\n                                    -1.8597809685161337e-05,\n                                    -1.596633296685468e-06,\n                                    6.5908775468415115e-06,\n                                    -6.31581679044757e-06,\n                                    -9.992578270612285e-06,\n                                    2.726697402977152e-06,\n                                    -3.965856478771457e-07,\n                                    -3.2632592592563014e-06,\n                                    -1.878231046248402e-06,\n                                    0.049999989569187164,\n                                    0.04999999329447746,\n                                    0.04999975487589836,\n                                    0.04999995604157448\n                                ],\n                                \"joint_vel\": [\n                                    0.0006153839058242738,\n                                    0.0006321496330201626,\n                                    -0.024115649983286858,\n                                    -0.1305435448884964,\n                                    0.07220273464918137,\n                                    -0.0006482411990873516,\n                                    0.004379136487841606,\n                                    0.003336175810545683,\n                                    0.0016000678297132254,\n                                    0.0010086465626955032,\n                                    -0.0019400134915485978,\n                                    -0.001348920282907784,\n                                    4.935043034492992e-05,\n                                    0.00012605827942024916,\n                                    0.003126867115497589,\n                                    0.0032393524888902903,\n                                    -1.612313644727692e-05,\n                                    -0.0005025741411373019,\n                                    -0.0004306160844862461,\n                                    4.674075171351433e-06,\n                                    -1.242387224920094e-05,\n                                    -0.00012150941620348021,\n                                    -0.0009675933397375047,\n                                    -0.001193943084217608,\n                                    3.927226134692319e-05,\n                                    -2.5616413040552288e-05,\n                                    5.377190245781094e-05,\n                                    3.2745738280937076e-06\n                                ],\n                                \"controllers\": {\n                                    \"base\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.0,\n                                                0.0,\n                                                0.0\n                                            ]\n                                        }\n                                    },\n                                    \"trunk\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                1.024999976158142,\n                                                -1.4500000476837158,\n                                                -0.4699999988079071,\n                                                0.0\n                                            ]\n                                        }\n                                    },\n                                    \"arm_left\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0\n                                            ]\n                                        }\n                                    },\n                                    \"gripper_left\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.05000000074505806\n                                            ]\n                                        },\n                                        \"vel_filter\": {\n                                            \"past_samples\": [\n                                                [\n                                                    2.8849741283920594e-05,\n                                                    1.4943136648071231e-06\n                                                ],\n                                                [\n                                                    1.2130527466069907e-05,\n                                                    2.090468115056865e-06\n                                                ],\n                                                [\n                                                    -7.599591754114954e-06,\n                                                    4.023313522338867e-06\n                                                ],\n                                                [\n                                                    4.4703480739372026e-07,\n                                                    -2.1010635464335792e-05\n                                                ],\n                                                [\n                                                    1.4305113836599048e-05,\n                                                    1.296400932915276e-05\n                                                ]\n                                            ],\n                                            \"current_idx\": 4,\n                                            \"fully_filled\": true\n                                        }\n                                    },\n                                    \"arm_right\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0,\n                                                0.0\n                                            ]\n                                        }\n                                    },\n                                    \"gripper_right\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            \"target\": [\n                                                0.05000000074505806\n                                            ]\n                                        },\n                                        \"vel_filter\": {\n                                            \"past_samples\": [\n                                                [\n                                                    2.4508763090125285e-05,\n                                                    1.3708197457162896e-06\n                                                ],\n                                                [\n                                                    3.313980414532125e-07,\n                                                    1.9042945496039465e-06\n                                                ],\n                                                [\n                                                    -2.235173951703473e-06,\n                                                    3.576278459149762e-06\n                                                ],\n                                                [\n                                                    2.235173951703473e-06,\n                                                    -1.6987323760986328e-05\n                                                ],\n                                                [\n                                                    2.190470513596665e-05,\n                                                    7.599591754114954e-06\n                                                ]\n                                            ],\n                                            \"current_idx\": 4,\n                                            \"fully_filled\": true\n                                        }\n                                    }\n                                },\n                                \"non_kin\": {},\n                                \"ag_obj_constraint_params\": {\n                                    \"left\": {},\n                                    \"right\": {}\n                                }\n                            }\n                        }\n                    }\n                }\n            },\n            \"trav_map_resolution\": 0.1,\n            \"default_erosion_radius\": 0.0,\n            \"trav_map_with_objects\": true,\n            \"num_waypoints\": 10,\n            \"waypoint_resolution\": 0.2,\n            \"load_room_types\": null,\n            \"load_room_instances\": [\n                \"corridor_0\",\n                \"garden_0\",\n                \"kitchen_0\",\n                \"living_room_0\"\n            ],\n            \"include_robots\": false\n        }\n    },\n    \"objects_info\": {\n        \"init_info\": {\n            \"bush_cwsigt_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_10\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_5\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_6\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_7\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_8\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_9\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_frqici_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_frqici_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"frqici\",\n                    \"scale\": [\n                        0.3373742699623108,\n                        0.3373841643333435,\n                        0.33737385272979736\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"65be04b03c60ab6220423e300ab4f1a7\"\n                }\n            },\n            \"bush_frqici_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_frqici_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"frqici\",\n                    \"scale\": [\n                        0.3373742699623108,\n                        0.3373841643333435,\n                        0.33737385272979736\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"65be04b03c60ab6220423e300ab4f1a7\"\n                }\n            },\n            \"bush_frqici_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_frqici_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"frqici\",\n                    \"scale\": [\n                        0.3373742699623108,\n                        0.3373841643333435,\n                        0.33737385272979736\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"65be04b03c60ab6220423e300ab4f1a7\"\n                }\n            },\n            \"bush_frqici_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_frqici_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"frqici\",\n                    \"scale\": [\n                        0.3373742699623108,\n                        0.3373841643333435,\n                        0.33737385272979736\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"65be04b03c60ab6220423e300ab4f1a7\"\n                }\n            },\n            \"bush_frqici_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_frqici_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"frqici\",\n                    \"scale\": [\n                        0.3373742699623108,\n                        0.3373841643333435,\n                        0.33737385272979736\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"65be04b03c60ab6220423e300ab4f1a7\"\n                }\n            },\n            \"bush_kjakgd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kjakgd_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"kjakgd\",\n                    \"scale\": [\n                        0.4627520442008972,\n                        0.46274271607398987,\n                        0.4627504050731659\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"33a869e68f8433f9f8ad81397a6ed31d\"\n                }\n            },\n            \"bush_kjakgd_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kjakgd_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"kjakgd\",\n                    \"scale\": [\n                        0.4627520442008972,\n                        0.46274271607398987,\n                        0.4627504050731659\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"33a869e68f8433f9f8ad81397a6ed31d\"\n                }\n            },\n            \"bush_knspbi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_knspbi_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"knspbi\",\n                    \"scale\": [\n                        0.7110752463340759,\n                        0.7110562920570374,\n                        0.7110764980316162\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f03890f4978291313b5773dd55e2ad6d\"\n                }\n            },\n            \"bush_knspbi_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_knspbi_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"knspbi\",\n                    \"scale\": [\n                        0.7110752463340759,\n                        0.7110562920570374,\n                        0.7110764980316162\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f03890f4978291313b5773dd55e2ad6d\"\n                }\n            },\n            \"bush_knspbi_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_knspbi_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"knspbi\",\n                    \"scale\": [\n                        0.7110752463340759,\n                        0.7110562920570374,\n                        0.7110764980316162\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f03890f4978291313b5773dd55e2ad6d\"\n                }\n            },\n            \"bush_knspbi_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_knspbi_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"knspbi\",\n                    \"scale\": [\n                        0.7110752463340759,\n                        0.7110562920570374,\n                        0.7110764980316162\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f03890f4978291313b5773dd55e2ad6d\"\n                }\n            },\n            \"bush_knspbi_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_knspbi_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"knspbi\",\n                    \"scale\": [\n                        0.7110752463340759,\n                        0.7110562920570374,\n                        0.7110764980316162\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f03890f4978291313b5773dd55e2ad6d\"\n                }\n            },\n            \"bush_knspbi_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_knspbi_5\",\n                    \"category\": \"bush\",\n                    \"model\": \"knspbi\",\n                    \"scale\": [\n                        0.7110752463340759,\n                        0.7110562920570374,\n                        0.7110764980316162\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f03890f4978291313b5773dd55e2ad6d\"\n                }\n            },\n            \"bush_kyghri_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fa09b11b5002ac67144632ac50c49c5\"\n                }\n            },\n            \"bush_kyghri_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fa09b11b5002ac67144632ac50c49c5\"\n                }\n            },\n            \"bush_kyghri_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fa09b11b5002ac67144632ac50c49c5\"\n                }\n            },\n            \"bush_kyghri_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fa09b11b5002ac67144632ac50c49c5\"\n                }\n            },\n            \"bush_kyghri_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fa09b11b5002ac67144632ac50c49c5\"\n                }\n            },\n            \"bush_kyghri_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_5\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fa09b11b5002ac67144632ac50c49c5\"\n                }\n            },\n            \"bush_kyghri_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_6\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fa09b11b5002ac67144632ac50c49c5\"\n                }\n            },\n            \"bush_kyghri_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_7\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fa09b11b5002ac67144632ac50c49c5\"\n                }\n            },\n            \"bush_kyghri_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_8\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fa09b11b5002ac67144632ac50c49c5\"\n                }\n            },\n            \"bush_lfyqkj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"99fac5fbe6206ef28bf1512ec9bfa9b9\"\n                }\n            },\n            \"bush_lfyqkj_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"99fac5fbe6206ef28bf1512ec9bfa9b9\"\n                }\n            },\n            \"bush_lfyqkj_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"99fac5fbe6206ef28bf1512ec9bfa9b9\"\n                }\n            },\n            \"bush_lfyqkj_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"99fac5fbe6206ef28bf1512ec9bfa9b9\"\n                }\n            },\n            \"bush_lfyqkj_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"99fac5fbe6206ef28bf1512ec9bfa9b9\"\n                }\n            },\n            \"bush_lfyqkj_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_5\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"99fac5fbe6206ef28bf1512ec9bfa9b9\"\n                }\n            },\n            \"bush_lfyqkj_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_6\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"99fac5fbe6206ef28bf1512ec9bfa9b9\"\n                }\n            },\n            \"bush_oedeqi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_oedeqi_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"oedeqi\",\n                    \"scale\": [\n                        0.5401318669319153,\n                        0.5401249527931213,\n                        0.5401372313499451\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"bccc28b7a68c14a604e017bdbb8358e8\"\n                }\n            },\n            \"bush_oedeqi_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_oedeqi_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"oedeqi\",\n                    \"scale\": [\n                        0.5401318669319153,\n                        0.5401249527931213,\n                        0.5401372313499451\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"bccc28b7a68c14a604e017bdbb8358e8\"\n                }\n            },\n            \"bush_oedeqi_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_oedeqi_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"oedeqi\",\n                    \"scale\": [\n                        0.5401318669319153,\n                        0.5401249527931213,\n                        0.5401372313499451\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"bccc28b7a68c14a604e017bdbb8358e8\"\n                }\n            },\n            \"bush_pjhpwk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"pjhpwk\",\n                    \"scale\": [\n                        0.5033133029937744,\n                        0.5033060312271118,\n                        0.503303587436676\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"7b40d9ae66d06ba384f51c59ce1b05e3\"\n                }\n            },\n            \"bush_pjhpwk_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"pjhpwk\",\n                    \"scale\": [\n                        0.5033133029937744,\n                        0.5033060312271118,\n                        0.503303587436676\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"7b40d9ae66d06ba384f51c59ce1b05e3\"\n                }\n            },\n            \"bush_pjhpwk_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"pjhpwk\",\n                    \"scale\": [\n                        0.5033133029937744,\n                        0.5033060312271118,\n                        0.503303587436676\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"7b40d9ae66d06ba384f51c59ce1b05e3\"\n                }\n            },\n            \"bush_pjhpwk_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"pjhpwk\",\n                    \"scale\": [\n                        0.5033133029937744,\n                        0.5033060312271118,\n                        0.503303587436676\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"7b40d9ae66d06ba384f51c59ce1b05e3\"\n                }\n            },\n            \"bush_pjhpwk_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"pjhpwk\",\n                    \"scale\": [\n                        0.5033133029937744,\n                        0.5033060312271118,\n                        0.503303587436676\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"7b40d9ae66d06ba384f51c59ce1b05e3\"\n                }\n            },\n            \"bush_yhjhta_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fdc9eeb879e1e7cbb41e5be570e9aa6\"\n                }\n            },\n            \"bush_yhjhta_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fdc9eeb879e1e7cbb41e5be570e9aa6\"\n                }\n            },\n            \"bush_yhjhta_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fdc9eeb879e1e7cbb41e5be570e9aa6\"\n                }\n            },\n            \"bush_yhjhta_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fdc9eeb879e1e7cbb41e5be570e9aa6\"\n                }\n            },\n            \"bush_yhjhta_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fdc9eeb879e1e7cbb41e5be570e9aa6\"\n                }\n            },\n            \"bush_yhjhta_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_5\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fdc9eeb879e1e7cbb41e5be570e9aa6\"\n                }\n            },\n            \"bush_yhjhta_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_6\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fdc9eeb879e1e7cbb41e5be570e9aa6\"\n                }\n            },\n            \"car_xxsgpq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"car_xxsgpq_0\",\n                    \"category\": \"car\",\n                    \"model\": \"xxsgpq\",\n                    \"scale\": [\n                        1.0000019073486328,\n                        0.9999808073043823,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"b21d975d126db866ca932800a5e04d43\"\n                }\n            },\n            \"charcoal_grill_crdaeu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"charcoal_grill_crdaeu_0\",\n                    \"category\": \"charcoal_grill\",\n                    \"model\": \"crdaeu\",\n                    \"scale\": [\n                        1.3063520193099976,\n                        1.4543060064315796,\n                        1.2942728996276855\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d584ad5f5d4a23a4989cdc9b7d6cc6\"\n                }\n            },\n            \"countertop_tpuwys_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"countertop_tpuwys_0\",\n                    \"category\": \"countertop\",\n                    \"model\": \"tpuwys\",\n                    \"scale\": [\n                        0.6670383810997009,\n                        1.7092905044555664,\n                        2.349606513977051\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"da4aba690baf7dfca8d81c1bc1b6de83\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"dishwasher_ynrhuk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"dishwasher_ynrhuk_0\",\n                    \"category\": \"dishwasher\",\n                    \"model\": \"ynrhuk\",\n                    \"scale\": [\n                        1.103658676147461,\n                        1.1392384767532349,\n                        1.0695672035217285\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"bf8ebfa4f2eddcbf9df621f5aa74f752\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fridge_petcxr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fridge_petcxr_0\",\n                    \"category\": \"fridge\",\n                    \"model\": \"petcxr\",\n                    \"scale\": [\n                        1.000007152557373,\n                        1.00002920627594,\n                        1.0000027418136597\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"d83d5bc62bc0e59923984dd17680385c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"microwave_hjjxmi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"microwave_hjjxmi_0\",\n                    \"category\": \"microwave\",\n                    \"model\": \"hjjxmi\",\n                    \"scale\": [\n                        0.9998999238014221,\n                        1.00001859664917,\n                        0.9998341202735901\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"d4f14541ccd2e3716e66022ef7a71ae6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"oven_ffitak_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"oven_ffitak_0\",\n                    \"category\": \"oven\",\n                    \"model\": \"ffitak\",\n                    \"scale\": [\n                        1.216524362564087,\n                        0.9933228492736816,\n                        0.9864447116851807\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"97058ea0b9027ae350a298f453ed87e8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_dyymaq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_dyymaq_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"dyymaq\",\n                    \"scale\": [\n                        0.7470368146896362,\n                        0.7470313310623169,\n                        0.7470372319221497\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"78e1d7bfe4704d4c6969714e988cafdd\"\n                }\n            },\n            \"tree_dyymaq_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_dyymaq_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"dyymaq\",\n                    \"scale\": [\n                        0.7470368146896362,\n                        0.7470313310623169,\n                        0.7470372319221497\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"78e1d7bfe4704d4c6969714e988cafdd\"\n                }\n            },\n            \"tree_dyymaq_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_dyymaq_2\",\n                    \"category\": \"tree\",\n                    \"model\": \"dyymaq\",\n                    \"scale\": [\n                        0.7470368146896362,\n                        0.7470313310623169,\n                        0.7470372319221497\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"78e1d7bfe4704d4c6969714e988cafdd\"\n                }\n            },\n            \"tree_flkzbo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_flkzbo_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"flkzbo\",\n                    \"scale\": [\n                        0.7470294237136841,\n                        0.747040867805481,\n                        0.7470352649688721\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"979c65c7e0bc0b79b5199f09e64fbd50\"\n                }\n            },\n            \"tree_flkzbo_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_flkzbo_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"flkzbo\",\n                    \"scale\": [\n                        0.7470294237136841,\n                        0.747040867805481,\n                        0.7470352649688721\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"979c65c7e0bc0b79b5199f09e64fbd50\"\n                }\n            },\n            \"tree_flkzbo_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_flkzbo_2\",\n                    \"category\": \"tree\",\n                    \"model\": \"flkzbo\",\n                    \"scale\": [\n                        0.7470294237136841,\n                        0.747040867805481,\n                        0.7470352649688721\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"979c65c7e0bc0b79b5199f09e64fbd50\"\n                }\n            },\n            \"tree_gmzozb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_gmzozb_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"gmzozb\",\n                    \"scale\": [\n                        0.48671355843544006,\n                        0.48672476410865784,\n                        0.486715167760849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f83439015a0a26c7639448abb38ff24c\"\n                }\n            },\n            \"tree_gmzozb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_gmzozb_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"gmzozb\",\n                    \"scale\": [\n                        0.48671355843544006,\n                        0.48672476410865784,\n                        0.486715167760849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f83439015a0a26c7639448abb38ff24c\"\n                }\n            },\n            \"tree_gmzozb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_gmzozb_2\",\n                    \"category\": \"tree\",\n                    \"model\": \"gmzozb\",\n                    \"scale\": [\n                        0.48671355843544006,\n                        0.48672476410865784,\n                        0.486715167760849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f83439015a0a26c7639448abb38ff24c\"\n                }\n            },\n            \"tree_gmzozb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_gmzozb_3\",\n                    \"category\": \"tree\",\n                    \"model\": \"gmzozb\",\n                    \"scale\": [\n                        0.48671355843544006,\n                        0.48672476410865784,\n                        0.486715167760849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f83439015a0a26c7639448abb38ff24c\"\n                }\n            },\n            \"tree_gmzozb_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_gmzozb_4\",\n                    \"category\": \"tree\",\n                    \"model\": \"gmzozb\",\n                    \"scale\": [\n                        0.48671355843544006,\n                        0.48672476410865784,\n                        0.486715167760849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f83439015a0a26c7639448abb38ff24c\"\n                }\n            },\n            \"tree_rrhqpw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"373e4aa421026c609eebed728dc5b0d9\"\n                }\n            },\n            \"tree_rrhqpw_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"373e4aa421026c609eebed728dc5b0d9\"\n                }\n            },\n            \"tree_rrhqpw_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_2\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"373e4aa421026c609eebed728dc5b0d9\"\n                }\n            },\n            \"tree_rrhqpw_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_3\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"373e4aa421026c609eebed728dc5b0d9\"\n                }\n            },\n            \"tree_rrhqpw_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_4\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"373e4aa421026c609eebed728dc5b0d9\"\n                }\n            },\n            \"tree_rrhqpw_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_5\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"373e4aa421026c609eebed728dc5b0d9\"\n                }\n            },\n            \"tree_wtyipq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ce3d91dc2e28c852028e0aa021b77373\"\n                }\n            },\n            \"tree_wtyipq_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ce3d91dc2e28c852028e0aa021b77373\"\n                }\n            },\n            \"tree_wtyipq_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_2\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ce3d91dc2e28c852028e0aa021b77373\"\n                }\n            },\n            \"tree_wtyipq_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_3\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ce3d91dc2e28c852028e0aa021b77373\"\n                }\n            },\n            \"tree_wtyipq_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_4\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ce3d91dc2e28c852028e0aa021b77373\"\n                }\n            },\n            \"tree_wtyipq_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_5\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ce3d91dc2e28c852028e0aa021b77373\"\n                }\n            },\n            \"tree_wtyipq_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_6\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ce3d91dc2e28c852028e0aa021b77373\"\n                }\n            },\n            \"tree_wtyipq_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_7\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ce3d91dc2e28c852028e0aa021b77373\"\n                }\n            },\n            \"tree_wtyipq_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_8\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ce3d91dc2e28c852028e0aa021b77373\"\n                }\n            },\n            \"wall_nail_wlnail_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_nail_wlnail_1\",\n                    \"category\": \"wall_nail\",\n                    \"model\": \"wlnail\",\n                    \"scale\": [\n                        2.438278913497925,\n                        2.4331214427948,\n                        2.437626838684082\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"b13640ddca0b3570656c5e120a6da059\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wood_fireplace_gpnsij_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wood_fireplace_gpnsij_0\",\n                    \"category\": \"wood_fireplace\",\n                    \"model\": \"gpnsij\",\n                    \"scale\": [\n                        0.9999626874923706,\n                        1.000006079673767,\n                        1.0000019073486328\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d797382fdee0780cf9e7cf822d7bc824\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bar_byvbuc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bar_byvbuc_0\",\n                    \"category\": \"bar\",\n                    \"model\": \"byvbuc\",\n                    \"scale\": [\n                        0.9999271035194397,\n                        1.0000065565109253,\n                        1.0000300407409668\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"095d92fea41b6b33cbb3070538a28b5a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"burner_mdanhg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"burner_mdanhg_0\",\n                    \"category\": \"burner\",\n                    \"model\": \"mdanhg\",\n                    \"scale\": [\n                        1.00006902217865,\n                        1.000030517578125,\n                        0.9988557696342468\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"f85e9a7f5de5b91e25341137a775c302\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_vanltx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_vanltx_0\",\n                    \"category\": \"shelf\",\n                    \"model\": \"vanltx\",\n                    \"scale\": [\n                        0.999862790107727,\n                        0.9999753832817078,\n                        0.9999756217002869\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"647e7dbd099d323784d0490abfae4eac\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"breakfast_table_xftrki_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"breakfast_table_xftrki_0\",\n                    \"category\": \"breakfast_table\",\n                    \"model\": \"xftrki\",\n                    \"scale\": [\n                        1.0000485181808472,\n                        0.9999868273735046,\n                        0.9999451637268066\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"3c6a214cdeb686e70120fa3115c65c97\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"coffee_table_koagbh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"coffee_table_koagbh_0\",\n                    \"category\": \"coffee_table\",\n                    \"model\": \"koagbh\",\n                    \"scale\": [\n                        0.9999982714653015,\n                        1.0000159740447998,\n                        1.000001311302185\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"e461f59150bdc5b675a3b025c7b4e7ee\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_chair_cottya_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_cottya_0\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"cottya\",\n                    \"scale\": [\n                        1.0000277757644653,\n                        1.0000189542770386,\n                        0.9999681711196899\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e64c147161c9dc653136c4dc0900d4c6\"\n                }\n            },\n            \"garden_chair_cottya_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_cottya_1\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"cottya\",\n                    \"scale\": [\n                        1.0000277757644653,\n                        1.0000189542770386,\n                        0.9999681711196899\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e64c147161c9dc653136c4dc0900d4c6\"\n                }\n            },\n            \"garden_chair_cottya_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_cottya_2\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"cottya\",\n                    \"scale\": [\n                        1.0000277757644653,\n                        1.0000189542770386,\n                        0.9999681711196899\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e64c147161c9dc653136c4dc0900d4c6\"\n                }\n            },\n            \"garden_chair_lraplz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_lraplz_0\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"lraplz\",\n                    \"scale\": [\n                        1.0000391006469727,\n                        1.0000197887420654,\n                        0.999955415725708\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"34ee14edc2bb5f2c2b201a258f55461f\"\n                }\n            },\n            \"standing_mirror_wwkuuf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"standing_mirror_wwkuuf_0\",\n                    \"category\": \"standing_mirror\",\n                    \"model\": \"wwkuuf\",\n                    \"scale\": [\n                        1.000001072883606,\n                        1.0000319480895996,\n                        0.9999984502792358\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"df3ee0c460b572663831d6b0378ffcd4\"\n                }\n            },\n            \"straight_chair_hgunnf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_hgunnf_0\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"hgunnf\",\n                    \"scale\": [\n                        1.0000176429748535,\n                        0.9999879598617554,\n                        0.9999611377716064\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7b7ec63d953cba350c0d1727bba2421e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_uofiqj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_uofiqj_0\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"uofiqj\",\n                    \"scale\": [\n                        1.0000693798065186,\n                        0.9999873638153076,\n                        0.9999604225158691\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"1142004608ed16c041c0c264e6eb74a5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_uofiqj_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_uofiqj_1\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"uofiqj\",\n                    \"scale\": [\n                        1.0000693798065186,\n                        0.9999873638153076,\n                        0.9999604225158691\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"1142004608ed16c041c0c264e6eb74a5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_zdhnyg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_zdhnyg_0\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"zdhnyg\",\n                    \"scale\": [\n                        1.0000176429748535,\n                        0.9999879598617554,\n                        0.9999611377716064\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"a1e17c47ea4dd146449fbe05d7bc095a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bar_egwapq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bar_egwapq_0\",\n                    \"category\": \"bar\",\n                    \"model\": \"egwapq\",\n                    \"scale\": [\n                        0.9999869465827942,\n                        0.9999972581863403,\n                        1.0000406503677368\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"fa31d04ec2beb2ccd5b8f4813360d422\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bottom_cabinet_rhdbzv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_rhdbzv_0\",\n                    \"category\": \"bottom_cabinet\",\n                    \"model\": \"rhdbzv\",\n                    \"scale\": [\n                        0.9999125599861145,\n                        0.9999962449073792,\n                        0.9999184012413025\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_alydei_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_alydei_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"alydei\",\n                    \"scale\": [\n                        0.999988853931427,\n                        0.9999680519104004,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"86e365b8fb102d702c6505cd28459c6b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_aoekre_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_aoekre_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"aoekre\",\n                    \"scale\": [\n                        0.9999804496765137,\n                        1.0000091791152954,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"fed445c055bd7da4df963a2455755786\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_feolie_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_feolie_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"feolie\",\n                    \"scale\": [\n                        0.9999893307685852,\n                        0.9999977946281433,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"0c8c59ac8c8af78b9d8eec93e762df12\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_isizwh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_isizwh_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"isizwh\",\n                    \"scale\": [\n                        0.9999997019767761,\n                        0.9999985098838806,\n                        0.9999061226844788\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\"\n                    ],\n                    \"expected_file_hash\": \"d94c0f06b0244d1f69d59096d0a0ead6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_kbxtoc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_kbxtoc_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"kbxtoc\",\n                    \"scale\": [\n                        0.9999968409538269,\n                        1.0000067949295044,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"308be41b758fc0ca3f8ac8e31ce37d86\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_sbkyof_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_sbkyof_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"sbkyof\",\n                    \"scale\": [\n                        1.0000014305114746,\n                        0.9999884366989136,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"46c82d22b374f34f5b527f708c1c355b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_vkfllw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_vkfllw_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"vkfllw\",\n                    \"scale\": [\n                        1.000012993812561,\n                        1.0000267028808594,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"9a9b27c732cc2d0cee5ece6550efee5b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"decorative_sign_hgonwj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_hgonwj_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"hgonwj\",\n                    \"scale\": [\n                        0.9999993443489075,\n                        1.0000003576278687,\n                        0.9999220967292786\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"97e453ea122521909d3b30c306a76c63\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"decorative_sign_rypeha_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_rypeha_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"rypeha\",\n                    \"scale\": [\n                        0.9984210729598999,\n                        1.0001134872436523,\n                        1.0001660585403442\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"5514b23d603035a028fcfcfc9e1721bb\"\n                }\n            },\n            \"decorative_sign_xzsmxq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_xzsmxq_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"xzsmxq\",\n                    \"scale\": [\n                        0.9994317293167114,\n                        0.9999769926071167,\n                        1.0000669956207275\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e74ebcdc9d86ec87b47a90c50486fd8a\"\n                }\n            },\n            \"door_bexenl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_bexenl_0\",\n                    \"category\": \"door\",\n                    \"model\": \"bexenl\",\n                    \"scale\": [\n                        0.9997830986976624,\n                        1.0000373125076294,\n                        0.9999975562095642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"bdc10c9061b7e62f259959de6f8f1196\"\n                }\n            },\n            \"door_bexenl_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_bexenl_1\",\n                    \"category\": \"door\",\n                    \"model\": \"bexenl\",\n                    \"scale\": [\n                        0.9984117150306702,\n                        1.0000373125076294,\n                        0.9999975562095642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bathroom_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"bdc10c9061b7e62f259959de6f8f1196\"\n                }\n            },\n            \"door_vudhlc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_0\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"cf63bdf9be712e49538234841dc5c231\"\n                }\n            },\n            \"door_vudhlc_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_1\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"cf63bdf9be712e49538234841dc5c231\"\n                }\n            },\n            \"door_vudhlc_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_2\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_vudhlc_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_3\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_0\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_1\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_10\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_11\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_12\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_12\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_13\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_13\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_14\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_14\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_15\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_15\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_16\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_16\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_17\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_17\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_2\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_3\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_4\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_5\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_6\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_7\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_8\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ea650ec103bf9bd57bfd7e5aca6dded\"\n                }\n            },\n            \"downlight_pawfmw_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_9\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"driveway_umalys_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"driveway_umalys_0\",\n                    \"category\": \"driveway\",\n                    \"model\": \"umalys\",\n                    \"scale\": [\n                        0.9999949932098389,\n                        1.0000005960464478,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"379680636ebfb5bc50fb418e33525b9d\"\n                }\n            },\n            \"drop_in_sink_lkklqs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"drop_in_sink_lkklqs_0\",\n                    \"category\": \"drop_in_sink\",\n                    \"model\": \"lkklqs\",\n                    \"scale\": [\n                        1.0000046491622925,\n                        0.9999699592590332,\n                        1.0000004768371582\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"2425c55bea6d7dab1be772b6e9a57b7d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"electric_switch_strbnw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"electric_switch_strbnw_0\",\n                    \"category\": \"electric_switch\",\n                    \"model\": \"strbnw\",\n                    \"scale\": [\n                        1.0014913082122803,\n                        0.9996373653411865,\n                        0.9999880194664001\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"electric_switch_strbnw_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"electric_switch_strbnw_1\",\n                    \"category\": \"electric_switch\",\n                    \"model\": \"strbnw\",\n                    \"scale\": [\n                        1.0014913082122803,\n                        0.9996373653411865,\n                        0.9999880194664001\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"b1b1b34ce7477bd37fe754890415067d\"\n                }\n            },\n            \"electric_switch_strbnw_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"electric_switch_strbnw_2\",\n                    \"category\": \"electric_switch\",\n                    \"model\": \"strbnw\",\n                    \"scale\": [\n                        1.0014913082122803,\n                        0.9996373653411865,\n                        0.9999880194664001\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"b1b1b34ce7477bd37fe754890415067d\"\n                }\n            },\n            \"electric_switch_strbnw_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"electric_switch_strbnw_3\",\n                    \"category\": \"electric_switch\",\n                    \"model\": \"strbnw\",\n                    \"scale\": [\n                        1.0014913082122803,\n                        0.9996373653411865,\n                        0.9999880194664001\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fixed_window_kvdqep_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fixed_window_kvdqep_0\",\n                    \"category\": \"fixed_window\",\n                    \"model\": \"kvdqep\",\n                    \"scale\": [\n                        0.9996340274810791,\n                        0.9999764561653137,\n                        0.9999943971633911\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"61725e3a9b11c1062ad9959d78f32a2c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fixed_window_lhzwtz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fixed_window_lhzwtz_0\",\n                    \"category\": \"fixed_window\",\n                    \"model\": \"lhzwtz\",\n                    \"scale\": [\n                        1.0003936290740967,\n                        0.9999641180038452,\n                        0.9999814033508301\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_ghetev_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_ghetev_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"ghetev\",\n                    \"scale\": [\n                        0.9999978542327881,\n                        1.0000015497207642,\n                        0.9999032616615295\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e66a1f5dcae3e53557e9fa8204f5b87a\"\n                }\n            },\n            \"floors_irvmpb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_irvmpb_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"irvmpb\",\n                    \"scale\": [\n                        1.0000075101852417,\n                        1.0000039339065552,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ca324b99d9a975bb3fc96387b111a7af\"\n                }\n            },\n            \"floors_iwsyoz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_iwsyoz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"iwsyoz\",\n                    \"scale\": [\n                        1.0000020265579224,\n                        0.9999590516090393,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"2ba014c36de5ff50781c9c9fb88a652b\"\n                }\n            },\n            \"floors_nbxnpk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_nbxnpk_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"nbxnpk\",\n                    \"scale\": [\n                        0.9999986290931702,\n                        1.000006079673767,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"86da83538a6f2e54a429715c1e2371dc\"\n                }\n            },\n            \"floors_ogynye_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_ogynye_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"ogynye\",\n                    \"scale\": [\n                        0.9999971389770508,\n                        1.0000039339065552,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"9a82c1e4d3282612b2e30ec7c4372c89\"\n                }\n            },\n            \"floors_qadhjb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_qadhjb_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"qadhjb\",\n                    \"scale\": [\n                        1.0000005960464478,\n                        1.0000057220458984,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"68287cd7aaa9433e80bdb7e07801369e\"\n                }\n            },\n            \"floors_sdejoi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_sdejoi_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"sdejoi\",\n                    \"scale\": [\n                        0.9999986290931702,\n                        0.9999680519104004,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"96575fef1fe27608bcc478308aacaccf\"\n                }\n            },\n            \"floors_slmyas_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_slmyas_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"slmyas\",\n                    \"scale\": [\n                        0.9999943375587463,\n                        0.9999828934669495,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"598762944b7237d86f9c44deccbc3e41\"\n                }\n            },\n            \"floors_ulujpr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_ulujpr_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"ulujpr\",\n                    \"scale\": [\n                        1.0000017881393433,\n                        0.9999909996986389,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"da6d83b222d92083f433c257beb7824a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_xkkysf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_xkkysf_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"xkkysf\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999807476997375,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"c8468a5a9386a884df5bb8d90fbab2a4\"\n                }\n            },\n            \"floors_xorxro_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_xorxro_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"xorxro\",\n                    \"scale\": [\n                        0.9999860525131226,\n                        0.9999966025352478,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"9e0c691e3c882ac3b0948212bd1cadd4\"\n                }\n            },\n            \"floors_zqjkvm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_zqjkvm_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"zqjkvm\",\n                    \"scale\": [\n                        1.0000038146972656,\n                        1.0000016689300537,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"5ef2eea344a85c5dbda9b196082a08b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_light_qyfrwj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_0\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"89a65546ebd3ded6413bde4ebb484e73\"\n                }\n            },\n            \"garden_light_qyfrwj_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_1\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"89a65546ebd3ded6413bde4ebb484e73\"\n                }\n            },\n            \"garden_light_qyfrwj_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_2\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"89a65546ebd3ded6413bde4ebb484e73\"\n                }\n            },\n            \"garden_light_qyfrwj_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_3\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"89a65546ebd3ded6413bde4ebb484e73\"\n                }\n            },\n            \"garden_light_qyfrwj_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_4\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"89a65546ebd3ded6413bde4ebb484e73\"\n                }\n            },\n            \"garden_light_qyfrwj_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_5\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"89a65546ebd3ded6413bde4ebb484e73\"\n                }\n            },\n            \"garden_light_qyfrwj_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_6\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"89a65546ebd3ded6413bde4ebb484e73\"\n                }\n            },\n            \"garden_light_qyfrwj_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_7\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"89a65546ebd3ded6413bde4ebb484e73\"\n                }\n            },\n            \"garden_light_qyfrwj_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_8\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"89a65546ebd3ded6413bde4ebb484e73\"\n                }\n            },\n            \"hall_tree_daxzaw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hall_tree_daxzaw_0\",\n                    \"category\": \"hall_tree\",\n                    \"model\": \"daxzaw\",\n                    \"scale\": [\n                        1.0000174045562744,\n                        0.9999738335609436,\n                        1.000008225440979\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"00512187dbfb7412c09f4a4eb1966a9f\"\n                }\n            },\n            \"hall_tree_upkvgr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"hall_tree_upkvgr_0\",\n                    \"category\": \"hall_tree\",\n                    \"model\": \"upkvgr\",\n                    \"scale\": [\n                        1.0000102519989014,\n                        0.9999994039535522,\n                        0.9999828338623047\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"786b74937aa371024926b08f39b7e0eb\"\n                }\n            },\n            \"lawn_aztwla_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_aztwla_0\",\n                    \"category\": \"lawn\",\n                    \"model\": \"aztwla\",\n                    \"scale\": [\n                        0.9999991059303284,\n                        1.0000005960464478,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"d9b7b1d047f1d3795cf43a6242715265\"\n                }\n            },\n            \"lawn_srfikq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_srfikq_0\",\n                    \"category\": \"lawn\",\n                    \"model\": \"srfikq\",\n                    \"scale\": [\n                        0.9999915957450867,\n                        1.0000064373016357,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"c4b50d819578a0ef51b8b580e6aeebff\"\n                }\n            },\n            \"lawn_tiqndr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_tiqndr_0\",\n                    \"category\": \"lawn\",\n                    \"model\": \"tiqndr\",\n                    \"scale\": [\n                        0.9999890923500061,\n                        1.0000040531158447,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"be73c1f58cd54b68d8dc2d7ddb42d5a2\"\n                }\n            },\n            \"lawn_zjtrpt_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_zjtrpt_0\",\n                    \"category\": \"lawn\",\n                    \"model\": \"zjtrpt\",\n                    \"scale\": [\n                        0.9999980330467224,\n                        0.9999983310699463,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"72edd844faa2fba83c2aa1fc56fffb16\"\n                }\n            },\n            \"paver_eskaca_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"paver_eskaca_0\",\n                    \"category\": \"paver\",\n                    \"model\": \"eskaca\",\n                    \"scale\": [\n                        0.9999935626983643,\n                        0.9999943375587463,\n                        1.000009298324585\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"6e026b4db31ca2939e5a431770bce50a\"\n                }\n            },\n            \"paver_lmdfdn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"paver_lmdfdn_0\",\n                    \"category\": \"paver\",\n                    \"model\": \"lmdfdn\",\n                    \"scale\": [\n                        0.999997615814209,\n                        1.0000035762786865,\n                        1.0000982284545898\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"bfc1ba27e83b098e5b23ddfbf6939803\"\n                }\n            },\n            \"paver_sekqqq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"paver_sekqqq_0\",\n                    \"category\": \"paver\",\n                    \"model\": \"sekqqq\",\n                    \"scale\": [\n                        0.9999988675117493,\n                        0.9999991655349731,\n                        0.9999514818191528\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"85f2354e815d081ac1d1b596c7fcdf00\"\n                }\n            },\n            \"picture_ekagyj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ekagyj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ekagyj\",\n                    \"scale\": [\n                        1.000014066696167,\n                        1.0000383853912354,\n                        1.000417947769165\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"931f520415eaa97c3a351f55a9e3f1db\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ggajdz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ggajdz_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ggajdz\",\n                    \"scale\": [\n                        1.000124454498291,\n                        1.0001705884933472,\n                        0.9999970197677612\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"90222f7d3d6fd6d98a441a56b8e3da48\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_jnecmu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_jnecmu_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"jnecmu\",\n                    \"scale\": [\n                        0.999976634979248,\n                        1.0000495910644531,\n                        1.001776099205017\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"295587cdd29da5d69fbda4af138be68f\"\n                }\n            },\n            \"picture_qlkknu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_qlkknu_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"qlkknu\",\n                    \"scale\": [\n                        0.9999873638153076,\n                        1.0000169277191162,\n                        0.9985789656639099\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"1f43f8232a57f74963f59e5f937ab4ca\"\n                }\n            },\n            \"picture_qlsyco_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_qlsyco_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"qlsyco\",\n                    \"scale\": [\n                        0.9999110102653503,\n                        0.9999677538871765,\n                        0.999721884727478\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"7e7bd70f770fefe441fa4e7f17a72217\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_tveyoh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_tveyoh_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"tveyoh\",\n                    \"scale\": [\n                        0.9999850392341614,\n                        1.000157356262207,\n                        0.9978264570236206\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"08930af6d8b0cf4ea6b41b87ea964c99\"\n                }\n            },\n            \"picture_yzbpie_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yzbpie_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yzbpie\",\n                    \"scale\": [\n                        1.0,\n                        0.9999328851699829,\n                        0.9977754950523376\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e51bc89bb0a0fdc212df9798e2a2d8cc\"\n                }\n            },\n            \"playground_xdlcdi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"playground_xdlcdi_0\",\n                    \"category\": \"playground\",\n                    \"model\": \"xdlcdi\",\n                    \"scale\": [\n                        1.0000079870224,\n                        1.0000005960464478,\n                        0.9999991059303284\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"59dbb574780ca85b35e6f0642939a865\"\n                }\n            },\n            \"rail_fence_owbrvb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_0\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"06bfeaa1ffa368cd90a357c44e022776\"\n                }\n            },\n            \"rail_fence_owbrvb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_1\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"06bfeaa1ffa368cd90a357c44e022776\"\n                }\n            },\n            \"rail_fence_owbrvb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_2\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"06bfeaa1ffa368cd90a357c44e022776\"\n                }\n            },\n            \"rail_fence_owbrvb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_3\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"06bfeaa1ffa368cd90a357c44e022776\"\n                }\n            },\n            \"rail_fence_owbrvb_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_4\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"06bfeaa1ffa368cd90a357c44e022776\"\n                }\n            },\n            \"rail_fence_owbrvb_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_5\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"06bfeaa1ffa368cd90a357c44e022776\"\n                }\n            },\n            \"range_hood_xvdfpp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"range_hood_xvdfpp_0\",\n                    \"category\": \"range_hood\",\n                    \"model\": \"xvdfpp\",\n                    \"scale\": [\n                        0.999972939491272,\n                        0.9999890923500061,\n                        0.9999650716781616\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"81bfc056084ea61abdd244371186d8c3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"roof_pgwmer_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"roof_pgwmer_0\",\n                    \"category\": \"roof\",\n                    \"model\": \"pgwmer\",\n                    \"scale\": [\n                        1.0000041723251343,\n                        1.000003457069397,\n                        1.000004768371582\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"16e85fae45365873f88aa2ba4e7e4acc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_light_eqbjaz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_light_eqbjaz_0\",\n                    \"category\": \"room_light\",\n                    \"model\": \"eqbjaz\",\n                    \"scale\": [\n                        0.9999228715896606,\n                        0.9999228715896606,\n                        1.0000250339508057\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"41b6772d0ee658d7f567c3aaf18fe00e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_light_kiuayi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_light_kiuayi_0\",\n                    \"category\": \"room_light\",\n                    \"model\": \"kiuayi\",\n                    \"scale\": [\n                        0.999922513961792,\n                        0.999922513961792,\n                        0.9999570250511169\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"0a708f17db358d92424529282bde269d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_frlxgz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_frlxgz_0\",\n                    \"category\": \"sofa\",\n                    \"model\": \"frlxgz\",\n                    \"scale\": [\n                        0.9999723434448242,\n                        1.0000096559524536,\n                        1.0000298023223877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"97f053b59fad5686fa81fb917c330d8c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"stairs_tikozn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"stairs_tikozn_0\",\n                    \"category\": \"stairs\",\n                    \"model\": \"tikozn\",\n                    \"scale\": [\n                        0.9999832510948181,\n                        0.9999979138374329,\n                        1.0000052452087402\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"3a312e0397d4aaf7758006345e2b4ac0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"swing_set_yzhrgz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"swing_set_yzhrgz_0\",\n                    \"category\": \"swing_set\",\n                    \"model\": \"yzhrgz\",\n                    \"scale\": [\n                        0.9999914169311523,\n                        1.0000094175338745,\n                        0.9999831318855286\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"bf247a4fb08999d2ed70207d810d3c5e\"\n                }\n            },\n            \"top_cabinet_tynnnw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"top_cabinet_tynnnw_0\",\n                    \"category\": \"top_cabinet\",\n                    \"model\": \"tynnnw\",\n                    \"scale\": [\n                        0.9999695420265198,\n                        1.0000219345092773,\n                        1.0000149011611938\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"bb9e8ae548dea044f81606680c1ddd4a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"top_cabinet_tynnnw_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"top_cabinet_tynnnw_1\",\n                    \"category\": \"top_cabinet\",\n                    \"model\": \"tynnnw\",\n                    \"scale\": [\n                        0.9999695420265198,\n                        1.0000219345092773,\n                        1.0000149011611938\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"bb9e8ae548dea044f81606680c1ddd4a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"track_light_ltnnrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"track_light_ltnnrc_0\",\n                    \"category\": \"track_light\",\n                    \"model\": \"ltnnrc\",\n                    \"scale\": [\n                        1.0000474452972412,\n                        0.9999818801879883,\n                        1.0001263618469238\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"track_light_ltnnrc_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"track_light_ltnnrc_1\",\n                    \"category\": \"track_light\",\n                    \"model\": \"ltnnrc\",\n                    \"scale\": [\n                        1.0000474452972412,\n                        0.9999818801879883,\n                        1.0001263618469238\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_tv_dxyfxf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_tv_dxyfxf_0\",\n                    \"category\": \"wall_mounted_tv\",\n                    \"model\": \"dxyfxf\",\n                    \"scale\": [\n                        1.0007919073104858,\n                        1.0000017881393433,\n                        0.9999944567680359\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"1990336656301cdc2627aae5f7318022\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_nujxel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_nujxel_0\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"nujxel\",\n                    \"scale\": [\n                        1.0000932216644287,\n                        1.0000927448272705,\n                        0.9969304800033569\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"d149ca77cdf32b328c5eee1ba73954d3\"\n                }\n            },\n            \"walls_abtbfo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_abtbfo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"abtbfo\",\n                    \"scale\": [\n                        0.999961793422699,\n                        1.0000077486038208,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"5b4896a60c91fe6a70dfaf6d3dcdc497\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_bjekee_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_bjekee_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"bjekee\",\n                    \"scale\": [\n                        0.9999438524246216,\n                        1.0000054836273193,\n                        1.000013828277588\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"8cf95618eba09e45afe87c1d59d4a841\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_buhmrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_buhmrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"buhmrc\",\n                    \"scale\": [\n                        0.9999995231628418,\n                        0.9999675750732422,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6d240c22e5f36de3ad60ea086569d665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_chmqjn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_chmqjn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"chmqjn\",\n                    \"scale\": [\n                        1.0000461339950562,\n                        0.999961793422699,\n                        0.9999359250068665\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"332ac54222e17e0377a4004614cf7790\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cvdpaq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cvdpaq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cvdpaq\",\n                    \"scale\": [\n                        0.9999979734420776,\n                        0.9999068975448608,\n                        1.000015377998352\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"61d61f77095a80ff9b5f03c2669df801\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cxsmhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cxsmhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cxsmhr\",\n                    \"scale\": [\n                        1.000010371208191,\n                        0.9997971057891846,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1b5be077939eeb28fb416785efe26f03\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_dewyls_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_dewyls_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"dewyls\",\n                    \"scale\": [\n                        1.0000096559524536,\n                        0.9997960329055786,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fcae1747905d4fed1bdf50e4e2bc6479\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_dlfarz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_dlfarz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"dlfarz\",\n                    \"scale\": [\n                        0.9999517202377319,\n                        0.999993085861206,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1f18407b01312aa0fd583b93adf96e96\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_epketb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_epketb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"epketb\",\n                    \"scale\": [\n                        0.9999929666519165,\n                        0.9999200701713562,\n                        0.9999359250068665\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d8e9b89b73cd854af80a55322a431a0d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fwsbwf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fwsbwf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fwsbwf\",\n                    \"scale\": [\n                        1.0001320838928223,\n                        0.9999893307685852,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9f3aa2c8d583922ab877f18a3e5a8df9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gishpf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gishpf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gishpf\",\n                    \"scale\": [\n                        0.9998095035552979,\n                        0.9999909996986389,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c972e073ef1ab690da74d37fd2dcb490\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hcbqvq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hcbqvq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hcbqvq\",\n                    \"scale\": [\n                        0.9998935461044312,\n                        0.9998812675476074,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4c223a0241e1c7e919f7514767a54b7a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jemunw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jemunw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jemunw\",\n                    \"scale\": [\n                        0.9999935030937195,\n                        0.9997928738594055,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3122bb8332fa6ea366a14e86d3e219ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jglkyp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jglkyp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jglkyp\",\n                    \"scale\": [\n                        0.9999024271965027,\n                        1.0000457763671875,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"042e510fad798211dad67f4921944b91\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jnbgxj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jnbgxj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jnbgxj\",\n                    \"scale\": [\n                        0.9999818205833435,\n                        1.000158429145813,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6cdd3a9f66cf52b3a80bf7f97e725e32\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jzwmhx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jzwmhx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jzwmhx\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999966025352478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"261879bc3e684bf2dbd77d26f0c2b12e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lblwvg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lblwvg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lblwvg\",\n                    \"scale\": [\n                        0.999974250793457,\n                        0.9998873472213745,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a95c81ecd20891f1bafe760b47c06420\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lovfhw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lovfhw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lovfhw\",\n                    \"scale\": [\n                        0.9998873472213745,\n                        0.9998785257339478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgumxz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgumxz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgumxz\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.999988853931427,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgvxov_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgvxov_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgvxov\",\n                    \"scale\": [\n                        0.9998886585235596,\n                        0.9998785257339478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"dde5a8a24f95e81ea67759ba1da85bbe\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_miltge_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_miltge_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"miltge\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        0.9999647736549377,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80acf118157114cffb17d2205bd44b6c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mkgplc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mkgplc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mkgplc\",\n                    \"scale\": [\n                        1.0000089406967163,\n                        1.0001459121704102,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mwlvfb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mwlvfb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mwlvfb\",\n                    \"scale\": [\n                        1.0000306367874146,\n                        1.0001626014709473,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oiagxk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oiagxk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oiagxk\",\n                    \"scale\": [\n                        0.9999501705169678,\n                        1.0000206232070923,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oqrbxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oqrbxo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oqrbxo\",\n                    \"scale\": [\n                        1.000234842300415,\n                        1.0000065565109253,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_owxeej_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_owxeej_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"owxeej\",\n                    \"scale\": [\n                        0.9999358654022217,\n                        1.000019907951355,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_paarsl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_paarsl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"paarsl\",\n                    \"scale\": [\n                        0.999906599521637,\n                        1.0000128746032715,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e9e1b102347c179e7404ac8c63a057a1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pmygxs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pmygxs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pmygxs\",\n                    \"scale\": [\n                        0.999999463558197,\n                        0.9998095035552979,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cfa38d73f5886197dba5e112adfcc07a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qeofms_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qeofms_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qeofms\",\n                    \"scale\": [\n                        0.9999974966049194,\n                        0.999953031539917,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"de4be4ceec4d1ed48e605abe3782ada8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rrabdp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rrabdp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rrabdp\",\n                    \"scale\": [\n                        0.9999839663505554,\n                        1.000156283378601,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ce0382609f884e45db5568d574f2e732\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uiloru_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uiloru_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uiloru\",\n                    \"scale\": [\n                        0.9999812245368958,\n                        0.9997938871383667,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0ed21a252059af2ca999e818dfd81cbb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_umqqmh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_umqqmh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"umqqmh\",\n                    \"scale\": [\n                        1.000093698501587,\n                        0.9998928904533386,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"be4f1289ffe5930678abdd08063eb74a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_upttgq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_upttgq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"upttgq\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        1.0000076293945312,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"326697987c9faf715f6e6116bc9f3801\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vxveul_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vxveul_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vxveul\",\n                    \"scale\": [\n                        0.9999592900276184,\n                        1.0000137090682983,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"db479ab9cc217e69d2cb0748a8fbe312\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_weybsr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_weybsr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"weybsr\",\n                    \"scale\": [\n                        1.0000098943710327,\n                        0.9999802112579346,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8b98d47f8b384604d4211372b3575ebd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xsubff_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xsubff_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xsubff\",\n                    \"scale\": [\n                        1.0000114440917969,\n                        1.0000354051589966,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xyrbgy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xyrbgy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xyrbgy\",\n                    \"scale\": [\n                        1.0,\n                        0.9999845027923584,\n                        1.0000032186508179\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ylpkth_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ylpkth_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ylpkth\",\n                    \"scale\": [\n                        1.0000102519989014,\n                        1.000156283378601,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zdhaff_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zdhaff_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zdhaff\",\n                    \"scale\": [\n                        1.0000907182693481,\n                        1.0000133514404297,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"can_of_soda_113\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"can_of_soda_113\",\n                    \"category\": \"can_of_soda\",\n                    \"model\": \"lugwcz\",\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\": \"de9950e5b2158ed7fef020cada76b7d3\"\n                }\n            },\n            \"can_of_soda_114\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"can_of_soda_114\",\n                    \"category\": \"can_of_soda\",\n                    \"model\": \"itolcg\",\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\": \"05fea4c051802b657cd0f7d6185e81e8\"\n                }\n            },\n            \"can_of_soda_115\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"can_of_soda_115\",\n                    \"category\": \"can_of_soda\",\n                    \"model\": \"itolcg\",\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\": \"05fea4c051802b657cd0f7d6185e81e8\"\n                }\n            },\n            \"trash_can_116\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trash_can_116\",\n                    \"category\": \"trash_can\",\n                    \"model\": \"wkxtxh\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"85a0df9923302ea85ffaf875f9c4916b\"\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": 3132,
+    "num_samples": 3132,
+    "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",
+        "ashcan.n.01_1_real",
+        "ashcan.n.01_1_pos",
+        "ashcan.n.01_1_ori_cos",
+        "ashcan.n.01_1_ori_sin",
+        "ashcan.n.01_1_in_gripper_left",
+        "ashcan.n.01_1_in_gripper_right",
+        "can__of__soda.n.01_1_real",
+        "can__of__soda.n.01_1_pos",
+        "can__of__soda.n.01_1_ori_cos",
+        "can__of__soda.n.01_1_ori_sin",
+        "can__of__soda.n.01_1_in_gripper_left",
+        "can__of__soda.n.01_1_in_gripper_right",
+        "can__of__soda.n.01_2_real",
+        "can__of__soda.n.01_2_pos",
+        "can__of__soda.n.01_2_ori_cos",
+        "can__of__soda.n.01_2_ori_sin",
+        "can__of__soda.n.01_2_in_gripper_left",
+        "can__of__soda.n.01_2_in_gripper_right",
+        "can__of__soda.n.01_3_real",
+        "can__of__soda.n.01_3_pos",
+        "can__of__soda.n.01_3_ori_cos",
+        "can__of__soda.n.01_3_ori_sin",
+        "can__of__soda.n.01_3_in_gripper_left",
+        "can__of__soda.n.01_3_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",
+        "floor.n.01_2_real",
+        "floor.n.01_2_pos",
+        "floor.n.01_2_ori_cos",
+        "floor.n.01_2_ori_sin",
+        "floor.n.01_2_in_gripper_left",
+        "floor.n.01_2_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_cwsigt_6/base_link/visuals\", \"3\": \"/World/scene_0/bush_cwsigt_3/base_link/visuals\", \"4\": \"/World/scene_0/bush_kyghri_2/base_link/visuals\", \"5\": \"/World/scene_0/walls_jnbgxj_0/base_link/visuals\", \"6\": \"/World/scene_0/bush_lfyqkj_0/base_link/visuals\", \"7\": \"/World/scene_0/trash_can_116/base_link/visuals\", \"8\": \"/World/scene_0/can_of_soda_115/base_link/visuals\", \"9\": \"/World/scene_0/can_of_soda_114/base_link/visuals\", \"10\": \"/World/scene_0/can_of_soda_113/base_link/visuals\", \"11\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_umqqmh_0/base_link/visuals\", \"19\": \"/World/scene_0/walls_uiloru_0/base_link/visuals\", \"20\": \"/World/scene_0/walls_rrabdp_0/base_link/visuals\", \"21\": \"/World/scene_0/walls_qeofms_0/base_link/visuals\", \"22\": \"/World/scene_0/walls_pmygxs_0/base_link/visuals\", \"23\": \"/World/scene_0/walls_paarsl_0/base_link/visuals\", \"24\": \"/World/scene_0/walls_owxeej_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_oqrbxo_0/base_link/visuals\", \"26\": \"/World/scene_0/walls_oiagxk_0/base_link/visuals\", \"27\": \"/World/scene_0/walls_mwlvfb_0/base_link/visuals\", \"28\": \"/World/scene_0/walls_mkgplc_0/base_link/visuals\", \"29\": \"/World/scene_0/walls_miltge_0/base_link/visuals\", \"30\": \"/World/scene_0/walls_mgvxov_0/base_link/visuals\", \"31\": \"/World/scene_0/walls_mgumxz_0/base_link/visuals\", \"32\": \"/World/scene_0/walls_lovfhw_0/base_link/visuals\", \"33\": \"/World/scene_0/walls_lblwvg_0/base_link/visuals\", \"34\": \"/World/scene_0/walls_jzwmhx_0/base_link/visuals\", \"35\": \"/World/scene_0/walls_jglkyp_0/base_link/visuals\", \"36\": \"/World/scene_0/walls_jemunw_0/base_link/visuals\", \"37\": \"/World/scene_0/walls_hcbqvq_0/base_link/visuals\", \"38\": \"/World/scene_0/walls_gishpf_0/base_link/visuals\", \"39\": \"/World/scene_0/walls_fwsbwf_0/base_link/visuals\", \"40\": \"/World/scene_0/walls_epketb_0/base_link/visuals\", \"41\": \"/World/scene_0/walls_dlfarz_0/base_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"49\": \"/World/scene_0/bush_kyghri_1/base_link/visuals\", \"50\": \"/World/scene_0/bush_cwsigt_2/base_link/visuals\", \"51\": \"/World/scene_0/bush_frqici_2/base_link/visuals\", \"52\": \"/World/scene_0/bush_knspbi_1/base_link/visuals\", \"53\": \"/World/scene_0/bush_kyghri_7/base_link/visuals\", \"54\": \"/World/scene_0/bush_lfyqkj_4/base_link/visuals\", \"55\": \"/World/scene_0/bush_oedeqi_1/base_link/visuals\", \"56\": \"/World/scene_0/bush_pjhpwk_4/base_link/visuals\", \"57\": \"/World/scene_0/bush_yhjhta_6/base_link/visuals\", \"58\": \"/World/scene_0/oven_ffitak_0/meta__base_link_togglebutton_1_0_link/visuals/mesh_0\", \"59\": \"/World/scene_0/oven_ffitak_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"60\": \"/World/scene_0/oven_ffitak_0/rack2/visuals\", \"61\": \"/World/scene_0/oven_ffitak_0/rack1/visuals\", \"62\": \"/World/scene_0/oven_ffitak_0/glass/visuals\", \"63\": \"/World/scene_0/oven_ffitak_0/door/visuals\", \"64\": \"/World/scene_0/oven_ffitak_0/base_link/visuals\", \"65\": \"/World/scene_0/tree_gmzozb_1/base_link/visuals\", \"66\": \"/World/scene_0/tree_rrhqpw_3/base_link/visuals\", \"67\": \"/World/scene_0/tree_wtyipq_3/base_link/visuals\", \"68\": \"/World/scene_0/wood_fireplace_gpnsij_0/base_link/visuals\", \"69\": \"/World/scene_0/garden_chair_cottya_1/base_link/visuals\", \"70\": \"/World/scene_0/straight_chair_zdhnyg_0/base_link/visuals\", \"71\": \"/World/scene_0/ceilings_aoekre_0/base_link/visuals\", \"72\": \"/World/scene_0/ceilings_vkfllw_0/base_link/visuals\", \"73\": \"/World/scene_0/door_vudhlc_2/glass/visuals\", \"74\": \"/World/scene_0/door_vudhlc_2/leaf/visuals\", \"75\": \"/World/scene_0/door_vudhlc_2/glass_base/visuals\", \"76\": \"/World/scene_0/door_vudhlc_2/base_link/visuals\", \"77\": \"/World/scene_0/downlight_pawfmw_14/base_link/visuals\", \"78\": \"/World/scene_0/downlight_pawfmw_5/base_link/visuals\", \"79\": \"/World/scene_0/electric_switch_strbnw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"80\": \"/World/scene_0/electric_switch_strbnw_0/base_link/visuals\", \"81\": \"/World/scene_0/floors_ghetev_0/base_link/visuals\", \"82\": \"/World/scene_0/floors_slmyas_0/base_link/visuals\", \"83\": \"/World/scene_0/garden_light_qyfrwj_2/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"84\": \"/World/scene_0/garden_light_qyfrwj_2/base_link/visuals\", \"85\": \"/World/scene_0/hall_tree_upkvgr_0/base_link/visuals\", \"86\": \"/World/scene_0/picture_jnecmu_0/base_link/visuals\", \"87\": \"/World/scene_0/rail_fence_owbrvb_4/base_link/visuals\", \"88\": \"/World/scene_0/sofa_frlxgz_0/base_link/visuals\", \"89\": \"/World/scene_0/top_cabinet_tynnnw_1/rightdoor/visuals\", \"90\": \"/World/scene_0/top_cabinet_tynnnw_1/leftdoor/visuals\", \"91\": \"/World/scene_0/top_cabinet_tynnnw_1/base_link/visuals\", \"92\": \"/World/scene_0/walls_buhmrc_0/base_link/visuals\", \"93\": \"/World/scene_0/walls_dewyls_0/base_link/visuals\", \"94\": \"/World/scene_0/bush_frqici_3/base_link/visuals\", \"95\": \"/World/scene_0/tree_wtyipq_0/base_link/visuals\", \"96\": \"/World/scene_0/bush_cwsigt_1/base_link/visuals\", \"97\": \"/World/scene_0/bush_frqici_1/base_link/visuals\", \"98\": \"/World/scene_0/bush_kyghri_0/base_link/visuals\", \"99\": \"/World/scene_0/bush_kyghri_8/base_link/visuals\", \"100\": \"/World/scene_0/bush_lfyqkj_6/base_link/visuals\", \"101\": \"/World/scene_0/bush_pjhpwk_3/base_link/visuals\", \"102\": \"/World/scene_0/charcoal_grill_crdaeu_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"103\": \"/World/scene_0/charcoal_grill_crdaeu_0/leaf/visuals\", \"104\": \"/World/scene_0/charcoal_grill_crdaeu_0/base_link/visuals\", \"105\": \"/World/scene_0/tree_dyymaq_2/base_link/visuals\", \"106\": \"/World/scene_0/tree_gmzozb_0/base_link/visuals\", \"107\": \"/World/scene_0/tree_wtyipq_6/base_link/visuals\", \"108\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_4_0_link/visuals/mesh_0\", \"109\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_3_0_link/visuals/mesh_0\", \"110\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_2_0_link/visuals/mesh_0\", \"111\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_1_0_link/visuals/mesh_0\", \"112\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"113\": \"/World/scene_0/burner_mdanhg_0/base_link/visuals\", \"114\": \"/World/scene_0/standing_mirror_wwkuuf_0/base_link/visuals\", \"115\": \"/World/scene_0/bottom_cabinet_rhdbzv_0/right_drawer/visuals\", \"116\": \"/World/scene_0/bottom_cabinet_rhdbzv_0/left_drawer/visuals\", \"117\": \"/World/scene_0/bottom_cabinet_rhdbzv_0/base_link/visuals\", \"118\": \"/World/scene_0/decorative_sign_xzsmxq_0/base_link/visuals\", \"119\": \"/World/scene_0/downlight_pawfmw_0/base_link/visuals\", \"120\": \"/World/scene_0/downlight_pawfmw_11/base_link/visuals\", \"121\": \"/World/scene_0/downlight_pawfmw_2/base_link/visuals\", \"122\": \"/World/scene_0/driveway_umalys_0/base_link/visuals\", \"123\": \"/World/scene_0/fixed_window_kvdqep_0/glass/visuals\", \"124\": \"/World/scene_0/fixed_window_kvdqep_0/base_link/visuals\", \"125\": \"/World/scene_0/floors_sdejoi_0/base_link/visuals\", \"126\": \"/World/scene_0/garden_light_qyfrwj_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"127\": \"/World/scene_0/garden_light_qyfrwj_1/base_link/visuals\", \"128\": \"/World/scene_0/garden_light_qyfrwj_7/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"129\": \"/World/scene_0/garden_light_qyfrwj_7/base_link/visuals\", \"130\": \"/World/scene_0/paver_eskaca_0/base_link/visuals\", \"131\": \"/World/scene_0/picture_qlsyco_0/base_link/visuals\", \"132\": \"/World/scene_0/rail_fence_owbrvb_2/base_link/visuals\", \"133\": \"/World/scene_0/room_light_kiuayi_0/base_link/visuals\", \"134\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"135\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"136\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"137\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"138\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"139\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"140\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"141\": \"/World/scene_0/bush_knspbi_2/base_link/visuals\", \"142\": \"/World/scene_0/bush_cwsigt_4/base_link/visuals\", \"143\": \"/World/scene_0/bush_cwsigt_8/base_link/visuals\", \"144\": \"/World/scene_0/bush_frqici_4/base_link/visuals\", \"145\": \"/World/scene_0/bush_knspbi_3/base_link/visuals\", \"146\": \"/World/scene_0/bush_kyghri_4/base_link/visuals\", \"147\": \"/World/scene_0/bush_lfyqkj_3/base_link/visuals\", \"148\": \"/World/scene_0/bush_pjhpwk_0/base_link/visuals\", \"149\": \"/World/scene_0/bush_yhjhta_3/base_link/visuals\", \"150\": \"/World/scene_0/dishwasher_ynrhuk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"151\": \"/World/scene_0/dishwasher_ynrhuk_0/link_2/visuals\", \"152\": \"/World/scene_0/dishwasher_ynrhuk_0/link_1/visuals\", \"153\": \"/World/scene_0/dishwasher_ynrhuk_0/link_0/visuals\", \"154\": \"/World/scene_0/dishwasher_ynrhuk_0/base_link/visuals\", \"155\": \"/World/scene_0/tree_flkzbo_1/base_link/visuals\", \"156\": \"/World/scene_0/tree_rrhqpw_0/base_link/visuals\", \"157\": \"/World/scene_0/tree_wtyipq_2/base_link/visuals\", \"158\": \"/World/scene_0/wall_nail_wlnail_1/base_link/visuals\", \"159\": \"/World/scene_0/coffee_table_koagbh_0/base_link/visuals\", \"160\": \"/World/scene_0/straight_chair_uofiqj_0/base_link/visuals\", \"161\": \"/World/scene_0/decorative_sign_rypeha_0/base_link/visuals\", \"162\": \"/World/scene_0/door_vudhlc_1/glass/visuals\", \"163\": \"/World/scene_0/door_vudhlc_1/leaf/visuals\", \"164\": \"/World/scene_0/door_vudhlc_1/glass_base/visuals\", \"165\": \"/World/scene_0/door_vudhlc_1/base_link/visuals\", \"166\": \"/World/scene_0/downlight_pawfmw_12/base_link/visuals\", \"167\": \"/World/scene_0/downlight_pawfmw_3/base_link/visuals\", \"168\": \"/World/scene_0/downlight_pawfmw_9/base_link/visuals\", \"169\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"170\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"171\": \"/World/scene_0/floors_qadhjb_0/base_link/visuals\", \"172\": \"/World/scene_0/floors_zqjkvm_0/base_link/visuals\", \"173\": \"/World/scene_0/garden_light_qyfrwj_8/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"174\": \"/World/scene_0/garden_light_qyfrwj_8/base_link/visuals\", \"175\": \"/World/scene_0/lawn_zjtrpt_0/base_link/visuals\", \"176\": \"/World/scene_0/picture_ekagyj_0/base_link/visuals\", \"177\": \"/World/scene_0/rail_fence_owbrvb_0/base_link/visuals\", \"178\": \"/World/scene_0/range_hood_xvdfpp_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"179\": \"/World/scene_0/range_hood_xvdfpp_0/base_link/visuals\", \"180\": \"/World/scene_0/top_cabinet_tynnnw_0/rightdoor/visuals\", \"181\": \"/World/scene_0/top_cabinet_tynnnw_0/leftdoor/visuals\", \"182\": \"/World/scene_0/top_cabinet_tynnnw_0/base_link/visuals\", \"183\": \"/World/scene_0/walls_abtbfo_0/base_link/visuals\", \"184\": \"/World/scene_0/wall_mounted_tv_dxyfxf_0/base_link/visuals\", \"185\": \"/World/scene_0/walls_cxsmhr_0/base_link/visuals\", \"186\": \"/World/scene_0/door_bexenl_0/leaf/visuals\", \"187\": \"/World/scene_0/bush_cwsigt_5/base_link/visuals\", \"188\": \"/World/scene_0/bush_cwsigt_9/base_link/visuals\", \"189\": \"/World/scene_0/bush_knspbi_0/base_link/visuals\", \"190\": \"/World/scene_0/bush_kyghri_6/base_link/visuals\", \"191\": \"/World/scene_0/bush_lfyqkj_2/base_link/visuals\", \"192\": \"/World/scene_0/bush_pjhpwk_1/base_link/visuals\", \"193\": \"/World/scene_0/bush_yhjhta_1/base_link/visuals\", \"194\": \"/World/scene_0/car_xxsgpq_0/windshield/visuals\", \"195\": \"/World/scene_0/car_xxsgpq_0/trunk/visuals\", \"196\": \"/World/scene_0/car_xxsgpq_0/right_quarter_glass/visuals\", \"197\": \"/World/scene_0/car_xxsgpq_0/right_door_glass/visuals\", \"198\": \"/World/scene_0/car_xxsgpq_0/rear_glass/visuals\", \"199\": \"/World/scene_0/car_xxsgpq_0/left_quarter_glass/visuals\", \"200\": \"/World/scene_0/car_xxsgpq_0/left_door_glass/visuals\", \"201\": \"/World/scene_0/car_xxsgpq_0/base_link/visuals\", \"202\": \"/World/scene_0/tree_flkzbo_0/base_link/visuals\", \"203\": \"/World/scene_0/tree_gmzozb_4/base_link/visuals\", \"204\": \"/World/scene_0/tree_rrhqpw_4/base_link/visuals\", \"205\": \"/World/scene_0/tree_wtyipq_4/base_link/visuals\", \"206\": \"/World/scene_0/shelf_vanltx_0/base_link/visuals\", \"207\": \"/World/scene_0/garden_chair_lraplz_0/base_link/visuals\", \"208\": \"/World/scene_0/ceilings_alydei_0/base_link/visuals\", \"209\": \"/World/scene_0/ceilings_kbxtoc_0/base_link/visuals\", \"210\": \"/World/scene_0/door_bexenl_0/base_link/visuals\", \"211\": \"/World/scene_0/downlight_pawfmw_10/base_link/visuals\", \"212\": \"/World/scene_0/downlight_pawfmw_17/base_link/visuals\", \"213\": \"/World/scene_0/downlight_pawfmw_8/base_link/visuals\", \"214\": \"/World/scene_0/electric_switch_strbnw_3/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"215\": \"/World/scene_0/electric_switch_strbnw_3/base_link/visuals\", \"216\": \"/World/scene_0/floors_nbxnpk_0/base_link/visuals\", \"217\": \"/World/scene_0/floors_ulujpr_0/base_link/visuals\", \"218\": \"/World/scene_0/garden_light_qyfrwj_3/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"219\": \"/World/scene_0/garden_light_qyfrwj_3/base_link/visuals\", \"220\": \"/World/scene_0/hall_tree_daxzaw_0/base_link/visuals\", \"221\": \"/World/scene_0/paver_lmdfdn_0/base_link/visuals\", \"222\": \"/World/scene_0/picture_tveyoh_0/base_link/visuals\", \"223\": \"/World/scene_0/rail_fence_owbrvb_5/base_link/visuals\", \"224\": \"/World/scene_0/swing_set_yzhrgz_0/base_link/visuals\", \"225\": \"/World/scene_0/wall_socket_nujxel_0/base_link/visuals\", \"226\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"227\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"228\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"229\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"230\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"231\": \"/World/scene_0/bush_oedeqi_0/base_link/visuals\", \"232\": \"/World/scene_0/bush_yhjhta_0/base_link/visuals\", \"233\": \"/World/scene_0/bush_yhjhta_5/base_link/visuals\", \"234\": \"/World/scene_0/microwave_hjjxmi_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"235\": \"/World/scene_0/microwave_hjjxmi_0/glass/visuals\", \"236\": \"/World/scene_0/microwave_hjjxmi_0/link_0/visuals\", \"237\": \"/World/scene_0/microwave_hjjxmi_0/base_link/visuals\", \"238\": \"/World/scene_0/tree_gmzozb_2/base_link/visuals\", \"239\": \"/World/scene_0/tree_rrhqpw_2/base_link/visuals\", \"240\": \"/World/scene_0/tree_wtyipq_8/base_link/visuals\", \"241\": \"/World/scene_0/breakfast_table_xftrki_0/base_link/visuals\", \"242\": \"/World/scene_0/straight_chair_hgunnf_0/base_link/visuals\", \"243\": \"/World/scene_0/ceilings_isizwh_0/base_link/visuals\", \"244\": \"/World/scene_0/door_bexenl_1/leaf/visuals\", \"245\": \"/World/scene_0/door_bexenl_1/base_link/visuals\", \"246\": \"/World/scene_0/downlight_pawfmw_1/base_link/visuals\", \"247\": \"/World/scene_0/downlight_pawfmw_16/base_link/visuals\", \"248\": \"/World/scene_0/downlight_pawfmw_7/base_link/visuals\", \"249\": \"/World/scene_0/electric_switch_strbnw_2/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"250\": \"/World/scene_0/electric_switch_strbnw_2/base_link/visuals\", \"251\": \"/World/scene_0/floors_ogynye_0/base_link/visuals\", \"252\": \"/World/scene_0/floors_xorxro_0/base_link/visuals\", \"253\": \"/World/scene_0/garden_light_qyfrwj_6/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"254\": \"/World/scene_0/garden_light_qyfrwj_6/base_link/visuals\", \"255\": \"/World/scene_0/lawn_srfikq_0/base_link/visuals\", \"256\": \"/World/scene_0/paver_sekqqq_0/base_link/visuals\", \"257\": \"/World/scene_0/picture_yzbpie_0/base_link/visuals\", \"258\": \"/World/scene_0/rail_fence_owbrvb_3/base_link/visuals\", \"259\": \"/World/scene_0/stairs_tikozn_0/glass/visuals\", \"260\": \"/World/scene_0/stairs_tikozn_0/base_link/visuals\", \"261\": \"/World/scene_0/walls_bjekee_0/base_link/visuals\", \"262\": \"/World/scene_0/walls_chmqjn_0/base_link/visuals\", \"263\": \"/World/scene_0/walls_cvdpaq_0/base_link/visuals\", \"264\": \"/World/scene_0/wall_mounted_tv_dxyfxf_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"265\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"266\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"267\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"268\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"269\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"270\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"271\": \"/World/scene_0/bush_cwsigt_0/base_link/visuals\", \"272\": \"/World/scene_0/bush_frqici_0/base_link/visuals\", \"273\": \"/World/scene_0/bush_kjakgd_1/base_link/visuals\", \"274\": \"/World/scene_0/bush_knspbi_5/base_link/visuals\", \"275\": \"/World/scene_0/bush_kyghri_5/base_link/visuals\", \"276\": \"/World/scene_0/bush_lfyqkj_5/base_link/visuals\", \"277\": \"/World/scene_0/bush_pjhpwk_2/base_link/visuals\", \"278\": \"/World/scene_0/bush_yhjhta_4/base_link/visuals\", \"279\": \"/World/scene_0/fridge_petcxr_0/right_door/visuals\", \"280\": \"/World/scene_0/fridge_petcxr_0/left_door/visuals\", \"281\": \"/World/scene_0/fridge_petcxr_0/base_link/visuals\", \"282\": \"/World/scene_0/tree_gmzozb_3/base_link/visuals\", \"283\": \"/World/scene_0/tree_rrhqpw_5/base_link/visuals\", \"284\": \"/World/scene_0/tree_wtyipq_5/base_link/visuals\", \"285\": \"/World/scene_0/bar_byvbuc_0/base_link/visuals\", \"286\": \"/World/scene_0/garden_chair_cottya_0/base_link/visuals\", \"287\": \"/World/scene_0/straight_chair_uofiqj_1/base_link/visuals\", \"288\": \"/World/scene_0/ceilings_feolie_0/base_link/visuals\", \"289\": \"/World/scene_0/decorative_sign_hgonwj_0/base_link/visuals\", \"290\": \"/World/scene_0/door_vudhlc_3/glass/visuals\", \"291\": \"/World/scene_0/door_vudhlc_3/leaf/visuals\", \"292\": \"/World/scene_0/door_vudhlc_3/glass_base/visuals\", \"293\": \"/World/scene_0/door_vudhlc_3/base_link/visuals\", \"294\": \"/World/scene_0/downlight_pawfmw_15/base_link/visuals\", \"295\": \"/World/scene_0/downlight_pawfmw_6/base_link/visuals\", \"296\": \"/World/scene_0/drop_in_sink_lkklqs_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"297\": \"/World/scene_0/drop_in_sink_lkklqs_0/base_link/visuals\", \"298\": \"/World/scene_0/floors_iwsyoz_0/base_link/visuals\", \"299\": \"/World/scene_0/garden_light_qyfrwj_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"300\": \"/World/scene_0/garden_light_qyfrwj_0/base_link/visuals\", \"301\": \"/World/scene_0/garden_light_qyfrwj_5/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"302\": \"/World/scene_0/garden_light_qyfrwj_5/base_link/visuals\", \"303\": \"/World/scene_0/lawn_tiqndr_0/base_link/visuals\", \"304\": \"/World/scene_0/picture_qlkknu_0/base_link/visuals\", \"305\": \"/World/scene_0/rail_fence_owbrvb_1/base_link/visuals\", \"306\": \"/World/scene_0/roof_pgwmer_0/glass/visuals\", \"307\": \"/World/scene_0/roof_pgwmer_0/base_link/visuals\", \"308\": \"/World/scene_0/track_light_ltnnrc_1/base_link/visuals\", \"309\": \"/World/scene_0/bush_cwsigt_10/base_link/visuals\", \"310\": \"/World/scene_0/bush_cwsigt_7/base_link/visuals\", \"311\": \"/World/scene_0/bush_kjakgd_0/base_link/visuals\", \"312\": \"/World/scene_0/bush_knspbi_4/base_link/visuals\", \"313\": \"/World/scene_0/bush_kyghri_3/base_link/visuals\", \"314\": \"/World/scene_0/bush_lfyqkj_1/base_link/visuals\", \"315\": \"/World/scene_0/bush_oedeqi_2/base_link/visuals\", \"316\": \"/World/scene_0/bush_yhjhta_2/base_link/visuals\", \"317\": \"/World/scene_0/countertop_tpuwys_0/base_link/visuals\", \"318\": \"/World/scene_0/tree_dyymaq_0/base_link/visuals\", \"319\": \"/World/scene_0/tree_dyymaq_1/base_link/visuals\", \"320\": \"/World/scene_0/tree_flkzbo_2/base_link/visuals\", \"321\": \"/World/scene_0/tree_rrhqpw_1/base_link/visuals\", \"322\": \"/World/scene_0/tree_wtyipq_1/base_link/visuals\", \"323\": \"/World/scene_0/tree_wtyipq_7/base_link/visuals\", \"324\": \"/World/scene_0/garden_chair_cottya_2/base_link/visuals\", \"325\": \"/World/scene_0/bar_egwapq_0/base_link/visuals\", \"326\": \"/World/scene_0/ceilings_sbkyof_0/base_link/visuals\", \"327\": \"/World/scene_0/door_vudhlc_0/glass/visuals\", \"328\": \"/World/scene_0/door_vudhlc_0/leaf/visuals\", \"329\": \"/World/scene_0/door_vudhlc_0/glass_base/visuals\", \"330\": \"/World/scene_0/door_vudhlc_0/base_link/visuals\", \"331\": \"/World/scene_0/downlight_pawfmw_13/base_link/visuals\", \"332\": \"/World/scene_0/downlight_pawfmw_4/base_link/visuals\", \"333\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"334\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"335\": \"/World/scene_0/floors_irvmpb_0/base_link/visuals\", \"336\": \"/World/scene_0/floors_xkkysf_0/base_link/visuals\", \"337\": \"/World/scene_0/garden_light_qyfrwj_4/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"338\": \"/World/scene_0/garden_light_qyfrwj_4/base_link/visuals\", \"339\": \"/World/scene_0/lawn_aztwla_0/base_link/visuals\", \"340\": \"/World/scene_0/picture_ggajdz_0/base_link/visuals\", \"341\": \"/World/scene_0/playground_xdlcdi_0/base_link/visuals\", \"342\": \"/World/scene_0/room_light_eqbjaz_0/base_link/visuals\", \"343\": \"/World/scene_0/track_light_ltnnrc_0/base_link/visuals\", \"344\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"345\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"346\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"347\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"348\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"349\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"350\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"351\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"352\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"353\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"354\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"355\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"356\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
+        7,
+        8,
+        9,
+        10,
+        266,
+        20,
+        292,
+        293,
+        172,
+        45,
+        46,
+        47,
+        48,
+        68,
+        344,
+        345,
+        217,
+        350,
+        226,
+        227,
+        228,
+        355,
+        356,
+        117
+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
+        1,
+        7,
+        8,
+        9,
+        10,
+        16,
+        21,
+        24,
+        25,
+        33,
+        36,
+        39,
+        46,
+        47,
+        58,
+        59,
+        62,
+        63,
+        64,
+        70,
+        79,
+        80,
+        85,
+        88,
+        93,
+        108,
+        109,
+        110,
+        111,
+        112,
+        113,
+        114,
+        118,
+        123,
+        124,
+        125,
+        133,
+        135,
+        136,
+        139,
+        159,
+        160,
+        161,
+        172,
+        180,
+        182,
+        183,
+        185,
+        208,
+        209,
+        213,
+        214,
+        215,
+        217,
+        220,
+        226,
+        227,
+        228,
+        230,
+        234,
+        237,
+        241,
+        242,
+        244,
+        245,
+        252,
+        259,
+        260,
+        266,
+        279,
+        280,
+        281,
+        285,
+        287,
+        325,
+        336,
+        344,
+        345,
+        346,
+        347,
+        348,
+        350,
+        353,
+        354,
+        355,
+        356
+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
+        1,
+        5,
+        7,
+        8,
+        9,
+        10,
+        12,
+        16,
+        18,
+        20,
+        21,
+        24,
+        25,
+        33,
+        34,
+        39,
+        41,
+        45,
+        46,
+        47,
+        48,
+        68,
+        73,
+        74,
+        76,
+        77,
+        79,
+        80,
+        85,
+        88,
+        114,
+        115,
+        116,
+        117,
+        118,
+        120,
+        125,
+        131,
+        139,
+        140,
+        159,
+        160,
+        166,
+        168,
+        172,
+        176,
+        183,
+        184,
+        185,
+        206,
+        208,
+        209,
+        211,
+        212,
+        213,
+        214,
+        215,
+        217,
+        220,
+        228,
+        230,
+        241,
+        244,
+        245,
+        246,
+        247,
+        252,
+        259,
+        260,
+        261,
+        262,
+        264,
+        269,
+        270,
+        287,
+        288,
+        289,
+        290,
+        291,
+        292,
+        293,
+        295,
+        317,
+        326,
+        331,
+        340,
+        342,
+        345,
+        347,
+        348,
+        352,
+        353,
+        354,
+        355,
+        356
+    ]
+}
\ No newline at end of file