diff --git "a/meta/episodes/task-0001/episode_00010230.json" "b/meta/episodes/task-0001/episode_00010230.json"
new file mode 100644--- /dev/null
+++ "b/meta/episodes/task-0001/episode_00010230.json"
@@ -0,0 +1,224 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_lower_task_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\": 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\"bddl_object_scope\": null, \"expected_file_hash\": \"4cf464b3b6f1f96498490951bd507ac8\"}}, \"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, \"expected_file_hash\": \"9d3726776c3c24015ec736d607b16e7c\"}}, \"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, \"expected_file_hash\": \"9d3726776c3c24015ec736d607b16e7c\"}}, \"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\": \"9d3726776c3c24015ec736d607b16e7c\"}}, \"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\": \"9d3726776c3c24015ec736d607b16e7c\"}}, \"downlight_pawfmw_0\": {\"class_module\": 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{\"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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"}}, \"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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"}}, \"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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"}}, \"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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"}}, \"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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"}}, \"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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"}}, \"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, 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\"bddl_object_scope\": null, \"expected_file_hash\": \"0349dd75228c1a534853caf184e0e73f\"}}, \"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\": \"1a64df8c5c7e848230ae36435c76ed1d\"}}, \"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\": \"84f02350fa312f29224d46048ad0fd58\"}}, \"walls_paarsl_0\": {\"class_module\": 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\"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"608ec2398c9b50659ba475509fc4349d\"}}, \"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\": \"db7229d1035b3c78f0c0ff6fabbe4657\"}}, \"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\": \"0c30177bde974be92ce6fa7c45bc426d\"}}, \"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\": \"66182c73b300e8b178bed38766148bd5\"}}, \"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\": \"da426a28f5e10b5f6075b05eb8d1e82f\"}}, \"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\": \"d412d642ddd611b8130cc44fc4f59555\"}}, \"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\": \"d28c881cc6d2aa5e53ec80abd55e53f1\"}}, \"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\": \"cba77dc2d9aa27129d0f86c752fda092\"}}, \"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\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\"}}, \"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\": \"da746049c08bf94e0950b74ecc5fb686\"}}, \"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\": \"b003114df6a0addaa3a87687339d8935\"}}, \"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\": \"b003114df6a0addaa3a87687339d8935\"}}, \"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\": \"3a2fb273090211c8cf873a53accec697\"}}, \"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, 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 \"lin_vel\": [\n                            0.0002543375885579735,\n                            0.002439382951706648,\n                            -0.007923643104732037\n                        ],\n                        \"ang_vel\": [\n                            -0.016535336151719093,\n                            0.002421096432954073,\n                            -0.00015932817768771201\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"garden_chair_lraplz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            14.069026947021484,\n                            11.16181468963623,\n                            0.4359786808490753\n                        ],\n                        \"ori\": [\n                            0.001354714622721076,\n                            -0.0005706255324184895,\n                      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[\n                            0.03869462013244629,\n                            -0.05869524925947189,\n                            0.12976476550102234,\n                            0.9890494346618652\n                        ],\n                        \"lin_vel\": [\n                            -0.0001174507342511788,\n                            0.00028226489666849375,\n                            7.005719817243516e-05\n                        ],\n                        \"ang_vel\": [\n                            -0.00039058292168192565,\n                            -0.00015860347775742412,\n                            2.5190454834955744e-05\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_hgunnf_0\": {\n                    \"is_asleep\": true,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.887571811676025,\n                            1.7928518056869507,\n                            0.47285687923431396\n                        ],\n                        \"ori\": [\n                            0.0022462308406829834,\n                            -0.00020683743059635162,\n                            0.9999974966049194,\n                            2.1299347281455994e-05\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_uofiqj_0\": {\n                    \"is_asleep\": true,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.4944519996643066,\n                            1.0171154737472534,\n                            0.4733436703681946\n                        ],\n                        \"ori\": [\n                            -7.450580596923828e-09,\n                            2.761371433734894e-07,\n                            0.2588207721710205,\n                            0.9659255146980286\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_uofiqj_1\": {\n                    \"is_asleep\": true,\n                    \"root_link\": {\n                        \"pos\": [\n       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\"pos\": [\n                            4.889127731323242,\n                            1.1079012155532837,\n                            0.4733008146286011\n                        ],\n                        \"ori\": [\n                            0.0031212568283081055,\n                            -0.0037849885411560535,\n                            0.9999879002571106,\n                            2.4979934096336365e-05\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                \"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\": true,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.260105133056641,\n                            4.522088527679443,\n                            0.21441006660461426\n                        ],\n                        \"ori\": [\n                            -9.960494935512543e-07,\n                            7.510277555411449e-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                        5.56650767147282e-11,\n                        5.522897764120849e-11\n                    ],\n                    \"joint_vel\": [\n                        2.60921377746937e-28,\n                        8.967988785822167e-27\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                            1.0000001192092896\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                        -6.370095016793378e-14\n                    ],\n                    \"joint_vel\": [\n                        -3.935318390602127e-11\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                            -1.3330631256103516,\n                            3.47764253616333,\n                            1.7149006128311157\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                            -6.518351938211708e-07,\n                            -3.0848721507936716e-05,\n                            -0.710446834564209,\n                            0.7037509679794312\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                        -7.827956680029521e-21\n                    ],\n                    \"joint_vel\": [\n                        -3.891278458672994e-18\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                            3.083584670093842e-05,\n                            -6.060565738152945e-07,\n                            0.7042464017868042,\n                            0.7099556922912598\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                        -1.478166584753432e-20\n                    ],\n                    \"joint_vel\": [\n                        -2.4795497799489022e-18\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                            -2.0085193682461977e-05,\n                            -0.00045781786320731044,\n                            -0.7034241557121277,\n                            0.7107701897621155\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                        1.6064886665390077e-07\n                    ],\n                    \"joint_vel\": [\n                        -7.133100771020747e-15\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.11318013072013855,\n                            -1.1897298097610474,\n                            1.1729762554168701\n                        ],\n                        \"ori\": [\n                            0.00045756736653856933,\n                            -1.995114143937826e-05,\n                            0.7107517123222351,\n                            0.7034427523612976\n                        ],\n                 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              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                   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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                            3.610970367162736e-08,\n                            7.961676828927011e-08,\n                            0.910709798336029,\n                            0.41304683685302734\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_15\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                      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-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                            6.119424819946289,\n                            5.336259841918945,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            7.961677539469747e-08,\n                            -3.610968946077264e-08,\n                            -0.4130469262599945,\n                            0.9107097387313843\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_2\": {\n                    \"is_asleep\": false,\n     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\"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\": 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              \"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\": 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            \"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                            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],\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    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\"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\": \"3a3d89d8301289e6578d18f9ad4756da\"\n      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                          \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9080e3d2ef9393b79ffed96b4df95419\"\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     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          \"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                                \"expected_file_hash\": \"dd7d1f102a2c4a0527e1a15e84bbbb58\"\n                            }\n                        },\n                        \"straight_chair_hgunnf_0\": {\n                            \"class_module\": 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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"52a9089f8cee9448b4c6623f4e1f9984\"\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                       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                          ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7b23acf24130333c26ba5b1ca2bab40\"\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                         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 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\": \"430b19e8cd4c9fa737dfe71ca0485e40\"\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           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\"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\": \"ac74d6cc6e967cfa0faf93330f0eebed\"\n                            }\n                        },\n                        \"decorative_sign_hgonwj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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               \"expected_file_hash\": \"323bc9404760cb6194f22132a01dc159\"\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       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\"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\": \"4cf464b3b6f1f96498490951bd507ac8\"\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   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\"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\": \"9d3726776c3c24015ec736d607b16e7c\"\n                            }\n                        },\n                        \"door_vudhlc_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                     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         \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d3726776c3c24015ec736d607b16e7c\"\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                               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         \"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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\n                            }\n                        },\n                        \"downlight_pawfmw_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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  \"expected_file_hash\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\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\": 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      \"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\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\n                            }\n                        },\n                        \"downlight_pawfmw_2\": {\n                            \"class_module\": 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    \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\n                            }\n                        },\n                        \"downlight_pawfmw_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                       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                            \"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                                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                       },\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         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\"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8ef1a79159a1aa1aa61626024008a84b\"\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  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                         \"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                       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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\": \"85b1f1faa7cd89462ce5dd2842f4c87c\"\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                                    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},\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\": \"a5c2d0cc0cebc5a0e97e8a54410d1fb7\"\n         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\"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\": \"0349dd75228c1a534853caf184e0e73f\"\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\": \"1a64df8c5c7e848230ae36435c76ed1d\"\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\": \"84f02350fa312f29224d46048ad0fd58\"\n                            }\n                        },\n                        \"walls_paarsl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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                           \"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\": \"608ec2398c9b50659ba475509fc4349d\"\n                            }\n                        },\n  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            }\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\": 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                      \"expected_file_hash\": \"66182c73b300e8b178bed38766148bd5\"\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\": \"da426a28f5e10b5f6075b05eb8d1e82f\"\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\": \"d412d642ddd611b8130cc44fc4f59555\"\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\": \"d28c881cc6d2aa5e53ec80abd55e53f1\"\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\": \"cba77dc2d9aa27129d0f86c752fda092\"\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\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\"\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         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   \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b003114df6a0addaa3a87687339d8935\"\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           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        \"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                                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\"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                       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                               \"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                                    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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           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 \"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                                        0.0004575822676997632,\n                                        -1.995480852201581e-05,\n                                        0.7107516527175903,\n                                        0.7034429311752319\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        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\"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                  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\"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                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\"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                  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\"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\": \"d772ed0fe639c3646d09cd717918b64b\",\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\": \"ff03ac591b180a606614c943ff361c9f\",\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\": \"2903113a772c212af4480c1bec08618d\",\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\": 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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"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               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            0.9997971057891846,\n                        0.9999966025352478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1d044ecde3cfed4e7950001476cf2e13\",\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\": \"31a25d77050d9df82479669169fa14dd\",\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\": \"84f518c09dac57ac3bce7642da5c5151\",\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\": \"6ffaaafac0723532cb12b6d3c7466479\",\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\": \"0b5e185874fa78c45aa5def8d48d4686\",\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\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\",\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\": \"bc42054c49e5ba7b0acaf846f9f1976c\",\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\": \"d66b7521a0a5e91116c0c4f8ef7a267c\",\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\": \"0349dd75228c1a534853caf184e0e73f\",\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\": \"1a64df8c5c7e848230ae36435c76ed1d\",\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\": \"84f02350fa312f29224d46048ad0fd58\",\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\": \"11fa687a13b59d0c43196761a127277d\",\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\": \"67b2e4f360067c0401db4274933180e5\",\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\": \"fad3c5eea73a8ebaf5b69fb4d5efbaea\",\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\": \"c41dd37bac9db56b44446f5281bf58d9\",\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\": \"608ec2398c9b50659ba475509fc4349d\",\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\": \"db7229d1035b3c78f0c0ff6fabbe4657\",\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\": \"0c30177bde974be92ce6fa7c45bc426d\",\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\": \"66182c73b300e8b178bed38766148bd5\",\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\": \"da426a28f5e10b5f6075b05eb8d1e82f\",\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\": \"d412d642ddd611b8130cc44fc4f59555\",\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\": \"d28c881cc6d2aa5e53ec80abd55e53f1\",\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\": \"cba77dc2d9aa27129d0f86c752fda092\",\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\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"washer_ziomqg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"washer_ziomqg_0\",\n                    \"category\": \"washer\",\n                    \"model\": \"ziomqg\",\n                    \"scale\": [\n                        1.0000054836273193,\n                        0.9999728202819824,\n                        0.9999645948410034\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"62aab2dcc7afe9da98fdfa9adee98bb0\"\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\": \"da746049c08bf94e0950b74ecc5fb686\"\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\": \"b003114df6a0addaa3a87687339d8935\"\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\": \"b003114df6a0addaa3a87687339d8935\"\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\": \"3a2fb273090211c8cf873a53accec697\"\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": 5060,
+    "num_samples": 5060,
+    "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",
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+        "floor.n.01_2_ori_sin",
+        "floor.n.01_2_in_gripper_left",
+        "floor.n.01_2_in_gripper_right"
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+}
\ No newline at end of file